JP2010042888A - Article direction changing device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an article direction changing device capable of changing the direction of an article in the conveying direction during the movement of the article to be conveyed, and changing the direction of the article without damaging the article even when the article is flexible and easily damaged. <P>SOLUTION: The article direction changing device comprises a conveyor 3 for conveying an article 33 by the travel of an endless belt, a horizontal articulated robot 7 for moving the article 33 on the conveyor 3 forwardly in the conveying direction while holding an upper portion of the article, and changing the direction of the article 33 by horizontally turning the article by the predetermined angle, and an air blowing means for forming an air layer between a conveying surface 6a of the endless belt and a lower side of the article 33 corresponding to the position for changing the direction of the article 33 by the horizontal articulated robot 7. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

この発明は、物品の搬送過程で搬送方向に対する物品の向きを変換する向き変換装置に関するものである。   The present invention relates to a direction changing device that changes the direction of an article with respect to a conveying direction in the conveying process of the article.

物品をコンベヤにより搬送する過程で物品の向きを変換する装置としては、ベルトコンベヤ装置の上方でベルト巻掛け機構を支持するブラケットが上下動自在かつ９０度往復回動自在な縦シャフトにより支持され、ブラケットに付設されたストッパで停止した包装品を検出する包装品センサからの検出信号に基づいてベルトコンベヤ装置が停止すると、縦シャフトが下降してベルト巻掛け機構が包装品を押さえ、縦シャフトが９０度往復回動してベルト巻掛け機構が包装品を９０度方向変換し、ベルト巻掛け機構が包装品を押さえた状態で走行復帰して包装品を搬出するようにしたものがある（特許文献１）。   As a device that changes the direction of the article in the process of conveying the article by the conveyor, a bracket that supports the belt winding mechanism is supported by a vertical shaft that is movable up and down and reciprocally rotated 90 degrees above the belt conveyor apparatus, When the belt conveyor device stops based on the detection signal from the package sensor that detects the package that has been stopped by the stopper attached to the bracket, the vertical shaft descends, the belt winding mechanism holds the package, and the vertical shaft There is one that reciprocates 90 degrees, the belt winding mechanism changes the direction of the packaged product by 90 degrees, and the belt winding mechanism returns to run with the packaged product held down to carry out the packaged product (patent) Reference 1).

また、形状に前後の異形態を有する物品を前後いずれか一方向へ連続かつ自動的に揃えることができる装置としては、移送手段により物品を略水平でかつその前後方向をランダム状態で載置して連続的に一方向へ移送する移送途中で、検出手段により物品の前後の向きが同一向きでないと検知されると、移送手段上で旋回手段が作動して物品を１８０°反転させ、物品の向きを揃えるようにしている（特許文献２）。   In addition, as an apparatus that can continuously and automatically align articles having different shapes in the front and back in either one of the front and rear directions, the article is placed substantially horizontally by the transfer means and the front and rear directions are placed in a random state. If the detection means detects that the front and back directions of the article are not the same direction during the transfer, the swiveling means operates on the transfer means to invert the article 180 °, The directions are aligned (Patent Document 2).

ところが、物品の向きを変換する際に物品に擦れが生じて柔軟な物品や傷が付き易い物品に対して損傷を与えるおそれがあった。
特開平５−１４７６１５号公報 特開平８−１２７４１６号公報 However, when the direction of the article is changed, the article may be rubbed to cause damage to a flexible article or an easily damaged article.
Japanese Patent Laid-Open No. 5-147615 JP-A-8-127416

本発明は、搬送物品の移動中に搬送方向に対する物品の向きを変換できるとともに、柔軟で傷などが付き易い特性の物品においても物品を傷めることなく物品の向きを変換し得る装置を提供することを目的とする。   The present invention provides an apparatus that can change the direction of an article with respect to the conveyance direction during movement of the conveyed article, and can change the direction of the article without damaging the article even in an article that is flexible and easily damaged. With the goal.

請求項１の発明にかかる物品の向き変換装置においては、無端ベルト６の走行により物品３３を搬送する搬送コンベヤ３と、該搬送コンベヤ３上の物品３３を、その上部を保持して搬送方向に向けて前進移動すると共に所定角度水平回動して該物品３３の向きを変換する転向手段７と、該転向手段７で物品３３の向きを変換する位置に対応して無端ベルト６と物品３３の下面との間に空気層を形成するエア吹付手段１４とを備えている。   In the article direction changing apparatus according to the first aspect of the invention, the conveying conveyor 3 that conveys the article 33 by the travel of the endless belt 6 and the article 33 on the conveying conveyor 3 are held in the upper direction in the conveying direction. Of the endless belt 6 and the article 33 corresponding to a position where the direction of the article 33 is changed by the turning means 7. Air blowing means 14 for forming an air layer between the lower surface and the lower surface is provided.

請求項１の発明を前提とする請求項２の発明において、前記転向手段７は、水平回動角度を変化させて物品３３の向きを異ならせるように作動するよう設定されている。
請求項１または請求項２の発明を前提とする請求項３の発明において、前記転向手段は、上下移動を含む４軸制御の水平多関節ロボット７で構成されている。 In the invention of claim 2 based on the invention of claim 1, the turning means 7 is set to operate so as to change the direction of the article 33 by changing the horizontal rotation angle.
In the invention of claim 3 based on the invention of claim 1 or claim 2, the turning means is constituted by a four-axis controlled horizontal articulated robot 7 including vertical movement.

請求項１〜３の発明のうちいずれか一つを前提とする請求項４の発明において、前記転向手段７は、物品３３の上部を保持する吸着部１２を含む。
請求項１〜４の発明のうちいずれか一つを前提とする請求項５の発明において、前記エア吹付手段１４はその吹付エア量または吹付エア圧力を変更し得るよう設定されている。 In the invention of claim 4 that presupposes any one of the inventions of claims 1 to 3, the turning means 7 includes a suction portion 12 that holds an upper portion of the article 33.
In the invention of claim 5, which presupposes any one of the inventions of claims 1 to 4, the air blowing means 14 is set so as to be able to change the amount of blowing air or the pressure of blowing air.

請求項１〜５の発明のうちいずれか一つを前提とする請求項６の発明において、前記転向手段７は、物品３３の向きを９０度水平回動して変換するに際して、該転向手段７で保持した物品３３を向き変換の前と後で前記搬送コンベヤ３の搬送ライン中心Ｌに対し変移させるよう動作する。   In the invention of claim 6, which presupposes any one of the inventions of claims 1 to 5, the turning means 7 converts the orientation of the article 33 by horizontally turning the article 33 by 90 degrees. The article 33 held in (1) is moved so as to be shifted with respect to the transfer line center L of the transfer conveyor 3 before and after the direction change.

請求項２の発明を前提とする請求項７の発明において、前記転向手段７は、物品３３を保持して搬送方向に前進移動させると共に物品３３の向きを水平回動して変換するに際に、前記搬送コンベヤ３の速度より高速で物品３３を前進移動させて後続物品３３との搬送間隔を広くするよう構成した。   In the invention of claim 7 premised on the invention of claim 2, the turning means 7 holds the article 33 and moves it forward in the conveying direction and at the same time horizontally converts the direction of the article 33 to convert it. The article 33 is moved forward at a speed higher than the speed of the conveyor 3 so that the conveyance interval with the subsequent article 33 is widened.

請求項２の発明を前提とする請求項８の発明において、前記転向手段７は、箱詰め手段２８への物品搬送経路に配設され、前記搬送コンベヤ３への物品流入数に対応して前記転向手段７で回動する物品３３の水平回動角度と回動方向とを変化させ得るようにした。   In the invention of claim 8 premised on the invention of claim 2, the turning means 7 is arranged in an article transport path to the boxing means 28, and the turning means corresponds to the number of articles flowing into the transport conveyor 3. The horizontal rotation angle and the rotation direction of the article 33 rotated by the means 7 can be changed.

請求項１の発明では、転向手段７が物品３３の上部を保持して搬送方向に向けて前進移動させつつ所定角度水平旋回して物品３３の搬送向きを変換するので、物品３３の向き変換時に物品３３の下流側への移動が止まることなく高速で搬送処理を実現できる。また、エア吹付手段１４が無端ベルト６と物品３３の下面との間に空気層を形成して無端ベルト６に対する物品３３の擦れをなくした状態で物品３３の向きを変換できるので、柔軟な物品３３や傷が付き易い物品３３に対して変形や損傷を与えることがない。   In the first aspect of the invention, the turning means 7 holds the upper part of the article 33 and moves it forward by a predetermined angle while moving forward in the conveyance direction, so that the conveyance direction of the article 33 is changed. The conveyance process can be realized at a high speed without stopping the movement of the article 33 to the downstream side. Further, since the air blowing means 14 can change the direction of the article 33 in a state in which the air 33 is formed between the endless belt 6 and the lower surface of the article 33 and the article 33 is not rubbed against the endless belt 6, the flexible article No deformation or damage is caused to the article 33 or the article 33 that is easily damaged.

請求項２の発明では、転向手段７の旋回角度を変化させて各物品３３の向きを異ならせることができるので、下流側に接続される各種処理手段の集合形態、例えば、箱詰め手段２８の箱詰め収容形態に合わせた各物品３３の向きとなる集合物品を得ることができる。   In the invention of claim 2, since the direction of each article 33 can be made different by changing the turning angle of the turning means 7, for example, a collective form of various processing means connected downstream, for example, the packing of the packing means 28 A collective article in which each article 33 is oriented in accordance with the accommodation form can be obtained.

請求項３の発明では、上下移動を含む４軸制御の水平多関節ロボット７により物品３３の下流側への搬送と向き変換とを行い、また、搬送ライン中心Ｌに対する物品３３の向き変換後における物品３３の搬送幅との関係についての位置設定とを同時的に行うので、高速処理が可能であり、また、物品３３の向きの変換時の旋回角度や物品３３の高さに応じた保持高さなどの条件を自由に設定できるので、搬送品種切り替えなどへの対応が柔軟且つ簡単に実施できる。   In the invention of claim 3, the article 33 is conveyed downstream and converted in direction by the four-axis controlled horizontal articulated robot 7 including vertical movement, and the article 33 is changed in direction relative to the conveyance line center L. Since the position setting with respect to the conveyance width of the article 33 is performed simultaneously, high-speed processing is possible, and the holding height corresponding to the turning angle at the time of changing the orientation of the article 33 and the height of the article 33 Since the conditions such as the length can be freely set, it is possible to flexibly and easily implement the handling for the transfer type switching.

請求項４の発明では、転向手段７の吸着部１２により物品３３の上部を保持した状態で物品３３の向きを変換するので、物品３３の保持力を高めることができる。
請求項５の発明では、エア吹付手段１４の吹付エア量または吹付エア圧力を調節するだけの簡単な設定により、複数種の物品３３に対し柔軟に対応できる。 According to the fourth aspect of the invention, since the orientation of the article 33 is changed while the upper portion of the article 33 is held by the suction portion 12 of the turning means 7, the holding force of the article 33 can be increased.
In the fifth aspect of the present invention, it is possible to flexibly cope with a plurality of types of articles 33 by simply setting the amount of blowing air or the pressure of the blowing air of the air blowing means 14.

請求項６の発明では、物品３３の向きの変換前と変換後とで搬送幅が異なる物品３３において搬送コンベヤ３の搬送ライン中心Ｌに対し物品３３を変移させて物品３３の幅方向中心位置を略一致させて搬送することができるので、搬送コンベヤ３の幅寸法を広く設定しなくても向き変換後の物品３３が搬送コンベヤ３と接触干渉したりすることがない。   In the invention of claim 6, the article 33 is shifted with respect to the conveyance line center L of the conveyance conveyor 3 in the article 33 having different conveyance widths before and after conversion of the direction of the article 33, so that the center position in the width direction of the article 33 is changed. Since they can be transported substantially in the same manner, the article 33 after the direction change does not interfere with the transport conveyor 3 even if the width dimension of the transport conveyor 3 is not set wide.

請求項７の発明では、搬送コンベヤ３の速度より転向手段７による物品３３の搬送速度を速くしたので、互いに隣接する下流側物品と上流側物品との間を確実に所定間隔毎に切り離して搬送することができる。   In the invention of claim 7, since the conveying speed of the article 33 by the turning means 7 is made faster than the speed of the conveying conveyor 3, the downstream article and the upstream article adjacent to each other are reliably separated at predetermined intervals and conveyed. can do.

請求項８の発明では、物品３３の箱詰め手段２８の上流側で箱詰め収容形態に合わせた各物品３３の向きとなる集合物品を箱詰め処理位置まで送り込むことができる。   According to the eighth aspect of the present invention, the collective article in the direction of each article 33 in accordance with the boxing accommodation form can be sent to the boxing processing position on the upstream side of the boxing means 28 of the article 33.

本発明における物品の向き変換装置の実施形態として、箱詰め手段に物品を所定の整列状態で集合して搬送するにあたりその搬送経路において各物品をその整列状態に適合する向きに揃えて搬送するシステムに適用した場合について例示する。   As an embodiment of an article orientation changing apparatus according to the present invention, in collecting and conveying articles in a predetermined alignment state in a boxing means, a system for conveying each article in a direction suitable for the alignment state in the conveyance path. The case where it applies is illustrated.

図１（ａ）に示すように、導入コンベヤ１と切出しコンベヤ２と搬送コンベヤ３と整列コンベヤ４とが搬送方向の上流側から下流側へ順次並設されているとともに、整列コンベヤ４に対し集合コンベヤ５が直交するよう配設され、該集合コンベヤ５が集合物品を箱詰め手段２８に向けて搬送するように配設されている。   As shown in FIG. 1A, an introduction conveyor 1, a cutting conveyor 2, a transport conveyor 3, and an alignment conveyor 4 are sequentially arranged in parallel from the upstream side to the downstream side in the transport direction, and are assembled to the alignment conveyor 4. The conveyors 5 are arranged so as to be orthogonal to each other, and the collective conveyor 5 is arranged to convey the collective articles toward the boxing means 28.

図２（ａ）（ｂ）に示すように、前記搬送コンベヤ３において複数のプーリに巻き掛けられて走行駆動する無端ベルト６に隣接して転向手段としての４軸制御の水平多関節ロボット７が設置されている。この４軸制御の水平多関節ロボット７は、本体部８の垂直軸心８ａを中心に水平回動（自由度１軸）する第１アーム９と、この第１アーム９の先端部で垂直軸心９ａに対し水平回動（自由度２軸）する第２アーム１０と、この第２アーム１０の先端部に垂設された垂直軸心１０ａ回りで水平回動（自由度３軸）すると共に該垂直軸心１０ａに沿って昇降動（自由度４軸）するロボットハンド１１とを備えている。このようにして構成される４軸制御の水平多関節ロボット７は、搬送コンベヤ３の一側方に設置された本体部８から前記両アーム９，１０が搬送コンベヤ３の上方において水平回動し得るよう延設されると共に前記ロボットハンド１１の下端部に設けられた吸着部１２が前記搬送コンベヤ３の無端ベルト６に面し、また、この吸着部１２を挟む両側で板状のガイド部１３が設けられている。   As shown in FIGS. 2 (a) and 2 (b), a four-axis controlled horizontal articulated robot 7 as a turning means is adjacent to an endless belt 6 that is wound around a plurality of pulleys in the conveyor 3 and driven to travel. is set up. The four-axis controlled horizontal articulated robot 7 includes a first arm 9 that horizontally rotates about a vertical axis 8 a of the main body 8 (one axis of freedom), and a vertical axis at the tip of the first arm 9. A second arm 10 that rotates horizontally (two axes of freedom) with respect to the core 9a, and a horizontal axis (three axes of freedom) around a vertical axis 10a that is suspended from the tip of the second arm 10 And a robot hand 11 that moves up and down (4 axes of freedom) along the vertical axis 10a. The 4-axis controlled horizontal articulated robot 7 configured as described above is configured such that the arms 9 and 10 are horizontally rotated above the conveyor 3 from a main body 8 installed on one side of the conveyor 3. A suction portion 12 that extends so as to be obtained and is provided at the lower end portion of the robot hand 11 faces the endless belt 6 of the transport conveyor 3, and plate-like guide portions 13 on both sides of the suction portion 12. Is provided.

前記無端ベルト６には走行方向に帯状に配置された多数の通孔１５が形成され、この無端ベルト６の走行ラインの下方に接してエアチャンバ１６が設けられている。エアチャンバ１６は無端ベルト６による物品３３の搬送始端から搬送終端までの間において前記ロボットハンド１１の回動によって物品３３の向きを変換する位置に対応してエアを上方へ吹出し可能な位置に配設されており、エア供給源であるブロワ１７からエア供給管路１８を経てエアチャンバ１６に達してそのエアチャンバ１６から吹出されたエアは、前記無端ベルト６の通孔１５を介して上方へ吹出し、無端ベルト６で搬送される物品３３の下面には空気層が介在している。   The endless belt 6 is formed with a number of through holes 15 arranged in a belt shape in the running direction, and an air chamber 16 is provided in contact with the lower end of the running line of the endless belt 6. The air chamber 16 is arranged at a position where air can be blown upward corresponding to a position where the direction of the article 33 is changed by the rotation of the robot hand 11 between the conveyance start end and conveyance termination of the article 33 by the endless belt 6. The air blown from the blower 17 serving as an air supply source to the air chamber 16 through the air supply pipe 18 and blown out from the air chamber 16 passes upward through the through hole 15 of the endless belt 6. An air layer is interposed on the lower surface of the article 33 that is blown out and conveyed by the endless belt 6.

前記搬送コンベヤ３の下流側に接続される整列コンベヤ４は、図３に示すように、下流側に直交して接続した集合コンベヤ５へ集合状態として送り出す物品３３を個々に載置可能な搬送長さに設定された複数（第１〜第４）の搬送ベルト２０，２１，２２，２３がそれぞれ取付部材２４に支持されて搬送方向に沿って順次並設されている。第２〜第４の搬送ベルト２１，２２，２３を支持する各取付部材２４は搬送方向の下流側で下部に配設された水平軸心２５を中心に回動可能に支持されてエアシリンダ２６等の駆動手段により往復回動し得る。搬送方向下流側に順次接続する第２の搬送ベルト２１と第３の搬送ベルト２２と第４の搬送ベルト２３との夫々は、前記取付部材２４の往復回動に伴い、その搬送面２１ａ，２２ａ，２３ａが水平になる水平状態と、それらの搬送面２１ａ，２２ａ，２３ａの搬送方向上流側が上方へ傾動する傾斜状態とを取り得る。これにより、各搬送ベルト２１，２２，２３まで送り込まれた物品３３のうち、上流側の物品３３の先頭部を下流側の物品３３の後方にもぐり込ませて物品３３の集合寸法を縮小する。   As shown in FIG. 3, the alignment conveyor 4 connected to the downstream side of the transfer conveyor 3 has a transfer length capable of individually placing articles 33 to be sent to the set conveyor 5 connected orthogonally to the downstream side. A plurality of (first to fourth) conveyor belts 20, 21, 22, and 23 set in this manner are respectively supported by the attachment member 24 and sequentially arranged along the conveyance direction. The mounting members 24 that support the second to fourth conveyor belts 21, 22, and 23 are supported so as to be rotatable about a horizontal axis 25 that is disposed in the lower part on the downstream side in the conveyance direction. It can be reciprocated by a driving means such as. Each of the second conveyor belt 21, the third conveyor belt 22, and the fourth conveyor belt 23 that are sequentially connected to the downstream side in the conveyance direction has its conveyance surfaces 21a, 22a as the mounting member 24 reciprocates. , 23a can be in a horizontal state and an inclined state in which the upstream side in the transport direction of the transport surfaces 21a, 22a, 23a tilts upward. As a result, among the articles 33 sent to the respective conveyor belts 21, 22, and 23, the leading portion of the upstream article 33 is inserted behind the downstream article 33 to reduce the aggregate size of the articles 33.

前記整列コンベヤ４の下流側で整列コンベヤ４の搬送方向と直交する集合コンベヤ５には、整列コンベヤ４における第２〜第４の搬送ベルト２１，２２，２３に載置されて整列された複数の物品３３が、押出し部材３２の作動によって整列状態で送り込まれる。集合コンベヤ５はその搬送終端部を上流側と下流側とに移動して搬送ベルト２７の搬送面２７ａを伸縮し得るシャトルコンベヤで構成される。その搬送面２７ａが収縮して開放される箱詰め位置の上方には昇降可能な吸着部２９を備えた箱詰め手段２８が設けられているとともに、その箱詰め位置の下方には物品３３を収容する箱としての番重３７が所定の搬送手段３０により送り込まれて位置決め保持される。   On the downstream side of the aligning conveyor 4, the assembly conveyor 5 perpendicular to the conveying direction of the aligning conveyor 4 is placed on the second to fourth transfer belts 21, 22, and 23 in the aligning conveyor 4. The article 33 is fed in an aligned state by the operation of the pushing member 32. The collective conveyor 5 is formed of a shuttle conveyor that can move the conveying terminal end thereof to the upstream side and the downstream side to expand and contract the conveying surface 27a of the conveying belt 27. A boxing means 28 having a suction part 29 that can be moved up and down is provided above the boxing position where the conveying surface 27a is contracted and opened, and a box for storing articles 33 is provided below the boxing position. No. 37 is fed by a predetermined conveying means 30 and is positioned and held.

以上の実施形態からなる物品の向き変換装置についてパン類の袋詰結束品からなる物品３３を所定の集合状態としてプラスチック製の通い箱である番重３７に箱詰めする動作工程との関係で以下説明する。   The direction changing device for articles according to the above-described embodiment will be described below in relation to an operation process for packing articles 33 made of bag-like bundles of breads into a number 37, which is a plastic return box, in a predetermined assembled state. To do.

本実施形態では、前記導入コンベヤ１上に前工程の袋詰め機から搬入された物品３３は、例えば図４（ａ）に示すように食パンまたはロールパン或いはその他のパン類を袋詰めした後にその袋口部を結束具で絞り込んだ結束耳部３４を有する包装品であって、その結束耳部３４が一定方向である搬送方向下流側向きを向いた姿勢で導入コンベヤ１を経て所定間隔毎に切出しコンベヤ２に搬送される。切出しコンベヤ２の搬送終端部側には第１センサ３５が設けられ、物品３３がこの第１センサ３５により検出される際に、切出しコンベヤ２の下流側に配設された転向手段としての４軸制御の水平多関節ロボット７のロボットハンド１１が搬送コンベヤ３の上流側における初期位置にあるか否かをその水平多関節ロボット７の動作信号によって判断し、初期位置にない場合には、切出しコンベヤ２の走行を停止して物品３３の搬送コンベヤ３への送り込みを停止する。また、ロボットハンド１１が初期位置にある場合には切出しコンベヤ２が停止することなく物品３３が搬送コンべヤ３に送り込まれる。   In the present embodiment, the article 33 carried from the bagging machine in the previous process onto the introduction conveyor 1 is packed with bread, rolls or other breads as shown in FIG. 4A, for example. It is a packaged product having binding ears 34 whose mouths are narrowed down by a binding tool, and the binding ears 34 are cut out at predetermined intervals through the introduction conveyor 1 in a posture in which the binding ears 34 are directed toward the downstream side in the transport direction. It is conveyed to the conveyor 2. A first sensor 35 is provided on the conveying terminal end side of the cutting conveyor 2, and when the article 33 is detected by the first sensor 35, four axes as turning means disposed on the downstream side of the cutting conveyor 2. Whether or not the robot hand 11 of the controlled horizontal articulated robot 7 is in the initial position on the upstream side of the transfer conveyor 3 is determined based on the operation signal of the horizontal articulated robot 7. 2 is stopped and feeding of the article 33 to the conveyor 3 is stopped. Further, when the robot hand 11 is in the initial position, the article 33 is fed into the transport conveyor 3 without stopping the cutting conveyor 2.

搬送コンベヤ３の搬送始端部側には第２センサ３６が設けられ、物品３３がこの第２センサ３６により検出されて前記ロボットハンド１１の初期位置に至るタイミングに応じてロボットハンド１１が物品３３の上部を保持し得る位置まで下降し、ロボットハンド１１は両ガイド部１３で物品３３を支持すると共に吸着部１２で物品３３の上部を吸着保持し、各アーム９，１０が水平旋回することにより搬送コンベヤ３の搬送方向下流側に向けて無端ベルト６の走行速度と同速以上の速度でベルト搬送面６ａ上を移動する。その前進移動中にロボットハンド１１が所定角度水平回動し、保持した物品３３の向きを変換する。なお、ロボットハンド１１がベルト搬送面６ａの速度より高速で前進移動すると、先行物品３３と後続物品３３との搬送間隔を広げて下流側に送出できる。前記第２センサ３６で物品３３が検出される都度その到来数がカウントされ、その物品３３の流入数に対応して、物品３３の水平回動角度（９０度または１８０度）と水平回動方向とが選択されて搬送方向に対する物品３３の向きを順次異ならせるように回動する。なお、下流側における集合状態において物品３３の搬送コンベヤ３への受入れ向きと同一向きで搬送コンベヤ３から送り出す場合にあっては、ロボットハンド１１の水平回動による向き変換動作は行われず、同一向きを維持した移送が実施される。ロボットハンド１１の吸着部１２による物品３３の吸着保持は、無端ベルト６の搬送面６ａに載置された物品３３をその搬送面６ａより上方に持ち上げるためのものではなく、ロボットハンド１１で物品３３を回動させて搬送方向に対する物品３３の向きを変換する際にロボットハンド１１で保持した物品３３が慣性によって位置ずれしてしまうのを防止するよう機能する。図１（ｂ）に示すように、平面視で縦横の長さが異なるなど、物品３３の向きの変換前と変換後とで搬送左右幅が異なる物品３３の場合、物品３３の向きを水平方向に９０度変換するに際して、物品３３の向きの変換後に物品３３を搬送コンベヤ３における搬送ライン中心Ｌに対し変移させて物品３３の搬送左右幅の中心位置を略一致させた状態で整列コンベヤ４へ搬送することができる。従って、そのような物品３３の場合でも、搬送コンベヤ３や下流側に接続するコンベヤの幅寸法を広く設定しなくても向き変換後の物品３３が搬送コンベヤ３と接触干渉したりすることがない。   A second sensor 36 is provided on the transfer start end side of the transfer conveyor 3, and the robot hand 11 detects the article 33 according to the timing when the article 33 is detected by the second sensor 36 and reaches the initial position of the robot hand 11. The robot hand 11 is lowered to a position where the upper part can be held, and the robot hand 11 supports the article 33 with both guide parts 13 and sucks and holds the upper part of the article 33 with the suction part 12, and the arms 9 and 10 are transported by horizontally turning. It moves on the belt conveying surface 6a toward the downstream side in the conveying direction of the conveyor 3 at a speed equal to or higher than the traveling speed of the endless belt 6. During the forward movement, the robot hand 11 rotates horizontally by a predetermined angle to change the direction of the held article 33. When the robot hand 11 moves forward at a speed higher than the speed of the belt conveyance surface 6a, the conveyance interval between the preceding article 33 and the succeeding article 33 can be widened and sent to the downstream side. Each time the article 33 is detected by the second sensor 36, the number of arrivals is counted, and the horizontal rotation angle (90 degrees or 180 degrees) of the article 33 and the horizontal rotation direction corresponding to the number of inflows of the article 33 are counted. Are selected so that the direction of the article 33 with respect to the conveying direction is sequentially changed. When the articles 33 are sent out from the conveyor 3 in the same direction as the receiving direction of the articles 33 to the conveyor 3 in the assembled state on the downstream side, the direction change operation by the horizontal rotation of the robot hand 11 is not performed, and the same direction Is carried out while maintaining the above. The adsorption holding of the article 33 by the adsorption unit 12 of the robot hand 11 is not for lifting the article 33 placed on the conveyance surface 6a of the endless belt 6 above the conveyance surface 6a. This function functions to prevent the position of the article 33 held by the robot hand 11 from being displaced due to inertia when the direction of the article 33 is changed with respect to the conveying direction. As shown in FIG. 1 (b), in the case of the article 33 in which the lateral width of the article 33 is different before and after the conversion of the orientation of the article 33, for example, the vertical and horizontal lengths are different in plan view, the orientation of the article 33 is set in the horizontal direction. When the direction of the article 33 is changed, the article 33 is shifted with respect to the conveyance line center L in the conveyance conveyor 3 and the center position of the conveyance left and right widths of the article 33 is substantially matched to the alignment conveyor 4. Can be transported. Therefore, even in the case of such an article 33, the article 33 after the direction change does not interfere with the conveyance conveyor 3 even if the width dimension of the conveyance conveyor 3 or the conveyor connected to the downstream side is not set wide. .

前述した物品３３の向きの変換位置に対応して、無端ベルト６の上方へ向けて前記エア吹付手段１４からエアが吹付けられる。そのため、物品３３の向き変換時には物品３３の下面とベルト搬送面６ａとが空気層を介して面し、物品３３の下面が無端ベルト６と直接擦れることがない。従って、包装袋に擦り傷が付いたりピンホールが発生したりすることがなく、柔軟で傷が付き易い物品３３においても変形や損傷を伴うことなく向きの変換ができる。また、前記エア吹付手段１４においては、物品３３の下面の形状や面積などの変化あるいは物品３３の質量の変化などに対応して、吹付エヤ量または吹付エヤ圧力を流量制御弁や圧力制御弁等の周知機器により変更設定することができ、その設定により、多品種処理での搬送物品３３の品種変更に対応した異なる性状の種々の物品に対して適性に対応できる。   Corresponding to the conversion position of the direction of the article 33 described above, air is blown from the air blowing means 14 toward the upper side of the endless belt 6. Therefore, when the orientation of the article 33 is changed, the lower surface of the article 33 and the belt conveying surface 6a face each other through the air layer, and the lower surface of the article 33 does not rub against the endless belt 6 directly. Therefore, the packaging bag is not scratched or pinholes are generated, and the direction of the article 33 can be changed without being deformed or damaged even in the flexible and easily damaged article 33. Further, in the air blowing means 14, the amount of blowing air or the pressure of the blowing air is controlled by a flow rate control valve, a pressure control valve, or the like corresponding to a change in the shape or area of the lower surface of the article 33 or a change in the mass of the article 33. Can be changed and set by a well-known device, and by this setting, it is possible to respond appropriately to various articles having different properties corresponding to the type change of the transported article 33 in the multi-type processing.

搬送コンベヤ３で転向手段としての水平多関節ロボット７によって向きが変換された物品３３は、搬送コンベヤ３から整列コンベヤ４に所定数分搬送され、第１の搬送ベルト２０を経て第２〜第４の搬送ベルト２１，２２，２３に載置される。ここで図１（ａ）に示したように集合コンベヤ５で集合された３列中で、搬送方向上流側と下流側（第１列目と第３列目）となる各列での３個の物品３３は、整列コンベヤ４に送り込まれる順で、第１番目の物品３３の結束耳部３４が搬送方向上流側を向き、第２番目の物品３３の結束耳部３４が集合コンベヤ５側を指向するように該第１番目の物品３３の向きと水平方向に９０度変換した向きとなり、また、第３番目の物品３３の結束耳部３４が整列コンベヤ４の搬送方向下流側を向くように整列されるものであり、まず、第１番目の物品３３が第１から第３の搬送ベルト２０，２１，２２を経て第４の搬送ベルト２３に至り、結束耳部３４を整列コンベヤ４の搬送方向上流側に向けて載置されて第４の搬送ベルト２３が停止する。続いて、第２番目の物品３３が結束耳部３４を集合コンべヤ５へ指向する向きで第３の搬送ベルト２２上に搬送される。第２番目の物品３３が第３の搬送ベルト２２の終端部に至る前に、第４の搬送ベルト２３の搬送面２３ａの上流側が上方に傾動して第３の搬送ベルト２２の搬送面２２ａとの間で段差を生じさせる。第２番目の物品が第３の搬送ベルト２２の搬送終端に至ることで第３の搬送ベルト２２が停止する。ここで、第２番目の物品３３の前方は第４の搬送ベルト２３に載置された第１番目の物品３３の結束耳部３４の下方位置となる。続いて、第３番目の物品３３が第２の搬送ベルト２１の終端に至る前に第３搬送ベルト２２の搬送面２２ａの上流側が上方に傾動して第２の搬送ベルト２１の搬送面２１ａとの間で段差を生じさせる。第３番目の物品３３は第２の搬送ベルト２１の搬送終端に至る際に、その前方となる結束耳部３４が第３の搬送ベルト２２の上流側端部に当接した状態で押し付けられて圧縮され、第３番目の物品３３が第２の搬送ベルト２１の搬送終端に至ることで第２の搬送ベルト２１が停止する。続けて、第４番目の物品３３が第１の搬送ベルト２０の終端に至る前に、第２の搬送ベルト２１の搬送面２１ａの上流側が上方に傾動して第１の搬送ベルト２０の搬送面２０ａとの間で段差を生じさせる。続けて、第４番目の物品３３が第１の搬送ベルト２０の搬送終端に至り、その結束耳部３４を搬送方向下流側に向けて袋底部側が第２の搬送ベルト２１の上流側端部に当接することで第１の搬送ベルト２０を停止する。その後、第２、第３、第４の搬送ベルト２１，２２，２３の各搬送面２１ａ，２２ａ，２３ａの傾斜によって斜状に支持されている物品３３は、その傾斜姿勢のままで前記押出し部材３２によって集合コンべヤ５に向けて押送される。整列コンべヤ４の第２、第３、第４の搬送ベルト２１，２２，２３に載置された物品３３が集合コンべヤ５に押送された後に、それらの搬送ベルト２１，２２，２３の各搬送面２１ａ，２２ａ，２３ａの上流側が下降し、また、第１搬送ベルト２０に載置された物品３３が第４の搬送ベルト２３の搬送終端まで送り込まれる。   Articles 33 whose direction has been changed by the horizontal articulated robot 7 serving as a turning means on the transfer conveyor 3 are transferred from the transfer conveyor 3 to the alignment conveyor 4 by a predetermined number of times and passed through the first transfer belt 20 to the second to fourth points. Are placed on the conveyor belts 21, 22 and 23. Here, as shown in FIG. 1A, among the three rows gathered by the collective conveyor 5, three pieces in each row that are upstream and downstream (first row and third row) in the transport direction , The binding ears 34 of the first article 33 face the upstream side in the conveying direction, and the binding ears 34 of the second article 33 face the assembly conveyor 5 side. The first article 33 is oriented 90 degrees in the horizontal direction, and the binding ear 34 of the third article 33 faces the downstream side in the conveying direction of the alignment conveyor 4. First, the first article 33 reaches the fourth conveyor belt 23 via the first to third conveyor belts 20, 21, and 22, and the binding ear 34 is conveyed by the alignment conveyor 4. The fourth conveyor belt 23 stops after being placed toward the upstream side in the direction. Subsequently, the second article 33 is conveyed onto the third conveyor belt 22 in a direction in which the binding ear 34 is directed to the collective conveyor 5. Before the second article 33 reaches the end of the third conveyor belt 22, the upstream side of the conveyor surface 23 a of the fourth conveyor belt 23 is tilted upward and the conveyor surface 22 a of the third conveyor belt 22. Create a step between the two. When the second article reaches the conveyance end of the third conveyance belt 22, the third conveyance belt 22 stops. Here, the front of the second article 33 is a position below the binding ear 34 of the first article 33 placed on the fourth conveyor belt 23. Subsequently, before the third article 33 reaches the end of the second conveyor belt 21, the upstream side of the conveyor surface 22 a of the third conveyor belt 22 tilts upward and the conveyor surface 21 a of the second conveyor belt 21. Create a step between the two. When the third article 33 reaches the conveyance end of the second conveyance belt 21, the binding lug 34 that is in front of the third article 33 is pressed against the upstream end of the third conveyance belt 22. When the third article 33 reaches the conveyance end of the second conveyance belt 21 after being compressed, the second conveyance belt 21 stops. Subsequently, before the fourth article 33 reaches the end of the first conveyor belt 20, the upstream side of the conveyor surface 21 a of the second conveyor belt 21 tilts upward and the conveyor surface of the first conveyor belt 20. A level difference is generated between 20a. Subsequently, the fourth article 33 reaches the conveyance end of the first conveyance belt 20, the binding ear 34 is directed to the downstream side in the conveyance direction, and the bag bottom side is at the upstream end of the second conveyance belt 21. The first conveying belt 20 is stopped by the contact. After that, the article 33 supported in an inclined shape by the inclination of the conveying surfaces 21a, 22a, 23a of the second, third, and fourth conveying belts 21, 22, 23 is the extruded member while maintaining its inclined posture. 32 is pushed toward the collective conveyor 5. After the articles 33 placed on the second, third, and fourth conveyor belts 21, 22, and 23 of the alignment conveyor 4 are pushed to the collective conveyor 5, the conveyor belts 21, 22, and 23 are arranged. The upstream side of each of the transport surfaces 21 a, 22 a, 23 a is lowered, and the article 33 placed on the first transport belt 20 is sent to the transport end of the fourth transport belt 23.

また、整列コンベヤ４において図１（ａ）に示す集合コンベヤ５で集合された３列中で中央に位置する第２列目に関する集積状態に合わせて物品３３を整列するものにあっては、両端に２個の物品３３を位置させて２行目の物品３３は存在しない態様であり、それら２個の物品３３は、前記した第１列目と第３列目の第１番目と第３番目の物品３３の向きに相当し、基本的動作は前記の通りであって、第４の搬送ベルト２３に対して物品３３の結束耳部３４を整列コンベヤ４の搬送方向上流側に向けた姿勢で送り込み、また、第２の搬送ベルト２１に対しては、物品３３の結束耳部３４が搬送方向下流側を向く姿勢で送り込み、第３の搬送ベルト２２には物品３３の送り込みを行わないようにしている。   In the aligning conveyor 4, the articles 33 are aligned in accordance with the accumulation state related to the second row located in the center among the three rows assembled by the collecting conveyor 5 shown in FIG. The two articles 33 are positioned in the second row, and the articles 33 in the second row do not exist. The two articles 33 are the first and third columns in the first and third columns. The basic operation is as described above, and the binding ear 34 of the article 33 is directed to the upstream side in the transport direction of the alignment conveyor 4 with respect to the fourth transport belt 23. In addition, the second conveying belt 21 is fed with the binding ear 34 of the article 33 facing downstream in the conveying direction, and the article 33 is not fed into the third conveying belt 22. ing.

このようにして、整列コンベヤ４で箱詰め姿勢となるように１列分ずつ集合された物品３３は、集合コンベヤ５に向けて前記押出し部材３２により各列毎に移送され、１箱分に相当する複数行が揃って集積した集合物品となる。その集合物品は、集合コンべヤ５において箱詰め位置まで搬送されて箱詰め手段２８の吸着部２９により持ち上げられ、前述したように搬送ベルト２７の搬送面２７ａが収縮されて開放された箱詰め位置で、下方に待機している番重３７に移換される。なお、番重３７への集合物品の箱詰め姿勢については、いずれの集合状態においても各物品３３の袋結束耳部３４が箱の内方に向く姿勢で箱詰めされるものであって、図１（ａ）に示す集合物品以外にも、例えば図４（ｃ）に示す集合物品を挙げることができる。   In this way, the articles 33 gathered one by one so as to be in a boxing posture on the aligning conveyor 4 are transferred to the gathering conveyor 5 for each row by the pushing member 32 and correspond to one box. A collective article in which a plurality of rows are gathered together. The collective article is conveyed to the boxing position in the collective conveyor 5 and lifted by the suction unit 29 of the boxing means 28, and as described above, the conveyance surface 27a of the conveyance belt 27 is shrunk and opened at the boxing position. It is transferred to the weight 37 waiting below. As for the boxing posture of the collective article to the weight 37, the bag binding ear portion 34 of each article 33 is packed in such a posture that faces the inside of the box in any aggregate state, as shown in FIG. In addition to the collective article shown in a), for example, the collective article shown in FIG.

前記実施形態以外にも例えば下記のように構成してもよい。
・ 前記実施形態では、物品の向きを変換する装置の一例として、パン類を袋詰めした後にその口部を結束具で絞り込んで耳部を有する包装品を、プラスチックコンテナ、所謂、番重へ箱詰めする装置に適用した場合において、その箱詰め位置までの搬送途上で物品の番重への収容形態に対応して物品の向きを揃えるための装置について例示したが、そのような目的以外で物品の向きの変換を必要とする装置に適用することができる。 For example, the following embodiment may be configured as follows.
In the above embodiment, as an example of an apparatus for changing the direction of an article, after packing breads, the mouth portion is squeezed with a binding tool, and a packaged product having ears is packed into a plastic container, so-called weight. In the case of application to a device, the device for aligning the orientation of the article corresponding to the accommodation form in the article weight on the way to the boxing position has been illustrated. The present invention can be applied to a device that requires conversion.

・ エア吹付手段１４は、無端ベルト６の下部から通孔１５を介してエアを上方に吹出す方式に限られるものではない。少なくとも無端ベルト６と物品３３の下面との間に空気層を形成可能な、例えばコンベヤの左右から無端ベルトの上面に圧縮エアを吹付けて物品３３の下面に空気層を形成するものなどを採用することができる。   The air blowing means 14 is not limited to a system that blows air upward from the bottom of the endless belt 6 through the through hole 15. An air layer can be formed at least between the endless belt 6 and the lower surface of the article 33. For example, the air layer is formed on the lower surface of the article 33 by blowing compressed air from the left and right sides of the conveyor onto the upper surface of the endless belt. can do.

・ 前記実施形態では転向手段として４軸制御の水平多関節ロボット７を採用しているが、これに代えて直交座標型ロボット、或いは、ロボットに代えて機械式の旋回機構を採用してもよい。   In the above embodiment, the horizontal articulated robot 7 with 4-axis control is adopted as the turning means, but instead of this, an orthogonal coordinate robot or a mechanical turning mechanism may be adopted instead of the robot. .

・ 物品３３の向き変換後で搬送ライン中心Ｌに対する物品３３の位置を変移することがない、例えば平面視で正方形の外形状を有する物品３３の向きの変換に適用する場合においては、少なくとも、搬送方向に沿った進退移動を行うと共に垂直軸を中心に回動可能な保持部材を備えた転向手段を採用すればよい。   When the direction of the article 33 is not changed, the position of the article 33 with respect to the conveyance line center L is not changed. For example, in the case of applying to the change of the direction of the article 33 having a square outer shape in plan view, at least the conveyance A turning means that includes a holding member that moves forward and backward along the direction and is rotatable about a vertical axis may be employed.

・ 物品３３の向きの変換は前記実施形態で例示した水平回動角度に限定されるものではなく、下流側で要求される処理姿勢に応じた水平回動角度にすることができる。
・ 転向手段において物品３３の上方を保持する吸着部１２や物品３３の側方を支持するガイド部１３は、それぞれ必要に応じて選択して採用されるものであればよい。 The conversion of the orientation of the article 33 is not limited to the horizontal rotation angle exemplified in the above embodiment, but can be a horizontal rotation angle according to the processing posture required on the downstream side.
The adsorbing portion 12 that holds the upper side of the article 33 in the turning means and the guide portion 13 that supports the side of the article 33 may be selected and adopted as necessary.

・ 前記実施形態の各種コンベヤ１，２，４，５，の有無や配列などは、必要に応じて採用されるものであって、本発明は少なくとも搬送コンべヤ３と転向手段とを組み合わせた構成を備えているものであればよい。   The presence and arrangement of the various conveyors 1, 2, 4, 5, etc. of the embodiment are adopted as necessary, and the present invention combines at least the conveyor 3 and the turning means. Any device having a configuration may be used.

・ その他、実施形態に採用した各種の構成に限らず種々の構成を採用可能である。   In addition to the various configurations employed in the embodiment, various configurations can be employed.

（ａ）は物品の向き変換装置を示す平面図、（ｂ）は同じく部分平面図。(A) is a top view which shows the direction change apparatus of articles | goods, (b) is a partial top view similarly. （ａ）は同じく部分正面図、（ｂ）は同じく部分左側面図。(A) is a partial front view, and (b) is a partial left side view. 同じく部分背面図。Similarly partial rear view. （ａ）は物品の斜視図、（ｂ）は番重の斜視図、（ｃ）は各物品を収容した番重の斜視図。(A) is a perspective view of articles | goods, (b) is a perspective view of watch weight, (c) is a perspective view of watch weight which accommodated each goods.

符号の説明Explanation of symbols

３…搬送コンベヤ、６…無端ベルト、７…水平多関節ロボット（転向手段）、１２…吸着部、１４…エア吹付手段、２８…箱詰め手段、３３…物品、Ｌ…搬送ライン中心。   DESCRIPTION OF SYMBOLS 3 ... Conveyor conveyor, 6 ... Endless belt, 7 ... Horizontal articulated robot (turning means), 12 ... Adsorption part, 14 ... Air spraying means, 28 ... Box packing means, 33 ... Article, L ... Center of conveyance line.

Claims (8)

無端ベルトの走行により物品を搬送する搬送コンベヤと、該搬送コンベヤ上の物品を、その上部を保持して搬送方向に向けて前進移動すると共に所定角度水平回動して該物品の向きを変換する転向手段と、該転向手段で物品の向きを変換する位置に対応して無端ベルトと物品の下面との間に空気層を形成するエア吹付手段とを備えたことを特徴とする物品の向き変換装置。 A transport conveyor that transports articles by running an endless belt, and the articles on the transport conveyor move forward while moving in the transport direction while holding the upper part thereof, and rotate horizontally by a predetermined angle to change the direction of the articles. A direction change of an article comprising: a turning means; and an air blowing means for forming an air layer between the endless belt and the lower surface of the article corresponding to a position where the direction of the article is changed by the turning means. apparatus. 前記転向手段は、水平回動角度を変化させて物品の向きを異ならせるように作動するよう設定されていることを特徴とする請求項１に記載の物品の向き変換装置。 2. The article direction changing device according to claim 1, wherein the turning unit is set to operate so as to change a direction of the article by changing a horizontal rotation angle. 3. 前記転向手段は、上下移動を含む４軸制御の水平多関節ロボットで構成されていることを特徴とする請求項１または請求項２に記載の物品の向き変換装置。 3. The article direction changing apparatus according to claim 1 or 2, wherein the turning means is constituted by a four-axis controlled horizontal articulated robot including vertical movement. 前記転向手段は、物品の上部を保持する吸着部を含むことを特徴とする請求項１〜３のうちいずれか一つに記載の物品の向き変換装置。 The direction changing device for an article according to any one of claims 1 to 3, wherein the turning means includes a suction portion that holds an upper part of the article. 前記エア吹付手段は、その吹付エア量または吹付エア圧力を変更し得るよう設定されていることを特徴とする請求項１〜４のうちいずれか一つに記載の物品の向き変換装置。 5. The article direction changing apparatus according to claim 1, wherein the air blowing means is set so as to change a blowing air amount or a blowing air pressure. 6. 前記転向手段は、物品の向きを９０度水平回動して変換するに際して、該転向手段で保持した物品を向き変換の前と後で前記搬送コンベヤの搬送ライン中心に対し変移させるよう動作することを特徴とする請求項１〜５のうちいずれか一つに記載の物品の向き変換装置。 The turning means operates so as to shift the article held by the turning means with respect to the center of the transfer line of the transfer conveyor before and after changing the direction when the direction of the article is converted by horizontally rotating by 90 degrees. The direction changing apparatus for an article according to any one of claims 1 to 5, wherein: 前記転向手段は、物品を保持して搬送方向に前進移動させると共に物品の向きを水平回動して変換するに際に、前記搬送コンベヤの速度より高速で物品を前進移動させて後続物品との搬送間隔を広くするよう構成したことを特徴とする請求項２に記載の物品の向き変換装置。 The turning means holds the article and moves it forward in the conveying direction, and when the direction of the article is horizontally rotated to convert the article, the turning means moves the article forward at a speed higher than the speed of the conveyor and 3. The article direction changing apparatus according to claim 2, wherein the conveyance interval is widened. 前記転向手段は、箱詰め手段への物品搬送経路に配設され、前記搬送コンベヤへの物品流入数に対応して前記転向手段で回動する物品の水平回動角度と回動方向とを変化させ得るようにしたことを特徴とする請求項２に記載の物品の向き変換装置。 The turning means is disposed in an article conveyance path to the boxing means, and changes a horizontal rotation angle and a rotation direction of an article rotated by the turning means in accordance with the number of articles flowing into the conveyance conveyor. 3. The article orientation changing apparatus according to claim 2, wherein the article orientation changing apparatus is obtained.

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