JP2023149150A - Article transfer device and article transfer method - Google Patents
Article transfer device and article transfer method Download PDFInfo
- Publication number
- JP2023149150A JP2023149150A JP2022057564A JP2022057564A JP2023149150A JP 2023149150 A JP2023149150 A JP 2023149150A JP 2022057564 A JP2022057564 A JP 2022057564A JP 2022057564 A JP2022057564 A JP 2022057564A JP 2023149150 A JP2023149150 A JP 2023149150A
- Authority
- JP
- Japan
- Prior art keywords
- article
- conveyance means
- conveyance
- suction head
- articles
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 149
- 238000000034 method Methods 0.000 title description 28
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 230000001788 irregular Effects 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 6
- 239000000047 product Substances 0.000 description 23
- 230000032258 transport Effects 0.000 description 21
- 230000008569 process Effects 0.000 description 14
- 238000004806 packaging method and process Methods 0.000 description 12
- 230000007547 defect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000000470 constituent Substances 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
- 235000009508 confectionery Nutrition 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 235000021067 refined food Nutrition 0.000 description 2
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 239000004278 EU approved seasoning Substances 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 235000011194 food seasoning agent Nutrition 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
Landscapes
- Relays Between Conveyors (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
- Specific Conveyance Elements (AREA)
Abstract
Description
本開示は、搬送手段から別の搬送手段に物品を移載する物品移載装置に関し、特に、移載の際に物品を選択的に除外する装置に関する。 The present disclosure relates to an article transfer device that transfers an article from one conveyance means to another conveyance means, and particularly relates to an apparatus that selectively excludes articles during transfer.
近年、加工食品、菓子、日用品等の製造工程では、被包装物である商品を袋詰して個々の包装体を形成したのち、複数個の包装体を集積してボール紙等からなる包装箱に箱詰して出荷される。箱詰工程への商品の供給を正確かつ迅速に行うために、供給される商品の搬送形態を箱詰めに適した商品の配列に並び替えて搬送する物品移載装置が用いられており、例えば、並列に搬送されて供給される複数の商品を直列に並べ替えて搬送する物品移載装置が提案されている(例えば、特許文献1、2)。 In recent years, in the manufacturing process of processed foods, confectionery, daily necessities, etc., the products to be packaged are packed into bags to form individual packages, and then multiple packages are assembled into packaging boxes made of cardboard, etc. It will be packed and shipped. In order to accurately and quickly supply products to the packaging process, an article transfer device is used that rearranges the transportation form of the supplied products into an arrangement of products suitable for packaging. 2. Description of the Related Art An article transfer device that rearranges and conveys a plurality of articles that are conveyed and supplied in parallel in series has been proposed (for example, Patent Documents 1 and 2).
この物品移載装置では、供給される商品の搬送周期の不良、並列搬送における位相ずれ、商品の欠品等の供給側においてピッチ不良が生じると、包装箱に箱詰めする際に不具合が生じる場合がある。そのため、従来の物品移載装置では、前段の供給工程において、コンベアの一部を傾けてピッチ不良の商品を工程外に排出するか、エアブローを用いて工程外に吹き飛ばして排出するといった排出方法が採られていた。 In this article transfer device, if a pitch defect occurs on the supply side such as a defect in the conveyance cycle of the supplied article, a phase shift in parallel conveyance, or a product is out of stock, problems may occur when packing the article into a packaging box. be. Therefore, with conventional article transfer equipment, in the previous stage supply process, products with poor pitch are discharged out of the process by tilting a part of the conveyor, or by being blown out of the process using an air blower. It had been taken.
ところが、エアブローを用いてピッチ不要の商品を工程外に排出する方法では、正確に商品を排出できない場合があり、また、排出される商品そのものに損傷を与えることがあり、商品の再利用が困難になるといった課題があった。 However, with the method of ejecting pitch-free products out of the process using air blowing, it may not be possible to eject the products accurately, and the ejected products themselves may be damaged, making it difficult to reuse the products. There were issues such as:
また、コンベアの一部を傾けてピッチ不良の商品を工程外に排出する方法では、流量が多く搬送速度が速い場合には、搬送周期が短く排出自体行うことが困難になるという課題があった。 In addition, with the method of tilting a part of the conveyor to discharge products with poor pitch out of the process, when the flow rate is large and the conveyance speed is fast, the conveyance cycle is short and it becomes difficult to discharge the products themselves. .
本開示は上記の問題点に鑑みてなされたものであり、搬送手段から別の搬送手段に物品を移載する際に、物品を選択的に除外することが可能な物品移載装置及び物品移載方法を提供することを目的とする。 The present disclosure has been made in view of the above problems, and provides an article transfer device and an article transfer device that can selectively exclude articles when transferring an article from one conveyance means to another conveyance means. The purpose is to provide a method for posting information.
本開示の一態様である物品移載装置は、物品を移載する物品移載装置であって、物品を搬送する第1の搬送手段と、前記第1の搬送手段上の所定の位置における物品の通過を検知可能な検知手段と、前記第1の搬送手段の後段に配された第2の搬送手段と、前記第1の搬送手段の後段、かつ、前記第2の搬送手段の前段に配され、物品を前記第1の搬送手段から前記第2の搬送手段に移載可能な移載手段と、前記第1の搬送手段の後段に配された排出路とを備え、前記検知手段が、物品が適切に通過したことを検知した正規状態においては、前記移載手段は前記第1の搬送手段から当該物品を取得して前記第2の搬送手段に移載し、前記検知手段が、物品が適切に通過しなかったことを検知した非正規状態においては、前記移載手段は前記第1の搬送手段から当該物品を取得して前記第2の搬送手段に移載せず、当該物品は前記第1の搬送手段から前記排出路に排出されることを特徴とする。 An article transfer device that is an aspect of the present disclosure is an article transfer device that transfers an article, and includes a first conveyance means for conveying the article, and an article at a predetermined position on the first conveyance means. a detection means capable of detecting the passage of a second transport means, a second transport means arranged after the first transport means, and a second transport means arranged after the first transport means and before the second transport means. and a transfer means capable of transferring an article from the first conveyance means to the second conveyance means, and a discharge path disposed downstream of the first conveyance means, and the detection means: In a normal state in which it is detected that the article has passed properly, the transfer means acquires the article from the first conveyance means and transfers it to the second conveyance means, and the detection means In an irregular state in which it is detected that the article has not passed properly, the transfer means does not acquire the article from the first conveyance means and transfer it to the second conveyance means, and the article does not pass through the first conveyance means. It is characterized in that it is discharged from the first conveyance means to the discharge path.
本開示の一態様によれば、搬送手段から別の搬送手段に物品を移載する際に、物品を選択的に除外することが可能な物品移載装置及び物品移載方法を提供することができる。 According to one aspect of the present disclosure, it is possible to provide an article transfer device and an article transfer method that are capable of selectively excluding articles when transferring an article from a conveyance means to another conveyance means. can.
≪本発明を実施するための形態の概要≫
本開示における実施の形態に係る物品移載装置は、物品を移載する物品移載装置であって、物品を搬送する第1の搬送手段と、前記第1の搬送手段上の所定の位置における物品の通過を検知可能な検知手段と、前記第1の搬送手段の後段に配された第2の搬送手段と、前記第1の搬送手段の後段、かつ、前記第2の搬送手段の前段に配され、物品を前記第1の搬送手段から前記第2の搬送手段に移載可能な移載手段と、前記第1の搬送手段の後段に配された排出路とを備え、前記検知手段が、物品が適切に通過したことを検知した正規状態においては、前記移載手段は前記第1の搬送手段から当該物品を取得して前記第2の搬送手段に移載し、前記検知手段が、物品が適切に通過しなかったことを検知した非正規状態においては、前記移載手段は前記第1の搬送手段から当該物品を取得して前記第2の搬送手段に移載せず、当該物品は前記第1の搬送手段から前記排出路に排出されることを特徴とする。
≪Overview of the mode for carrying out the present invention≫
An article transfer device according to an embodiment of the present disclosure is an article transfer device that transfers an article, and includes a first conveyance means for conveying the article, and a predetermined position on the first conveyance means. a detection means capable of detecting passage of an article; a second conveyance means arranged after the first conveyance means; and a second conveyance means arranged after the first conveyance means and before the second conveyance means. a transfer means that is arranged and capable of transferring an article from the first transport means to the second transport means; and a discharge path arranged after the first transport means, and the detection means In a normal state in which it is detected that the article has passed properly, the transfer means acquires the article from the first conveyance means and transfers it to the second conveyance means, and the detection means: In an irregular state in which it is detected that the article has not passed properly, the transfer means does not acquire the article from the first conveyance means and transfer it to the second conveyance means, and the article is It is characterized in that it is discharged from the first conveyance means to the discharge path.
係る構成により、移載装置の上流の搬送工程で工程外排出するのではなく、ピッチ不良が検出された物品を移載手段で移載せずにそのまま通過させるという構成を実現できる。これにより、搬送手段から別の搬送手段に物品を移載する際に、物品を選択的に除外することが可能な物品移載装置及び物品移載方法を提供することができる。 With this configuration, it is possible to realize a configuration in which an article in which a pitch defect is detected is not transferred to the transfer device and is passed through without being transferred to the transfer device, instead of being discharged out of the process in a conveyance process upstream of the transfer device. Thereby, it is possible to provide an article transfer device and an article transfer method that are capable of selectively excluding articles when transferring an article from one conveyance means to another conveyance means.
また、別の態様では、上記何れかに記載の態様において、前記移載手段は、第1の軸の周りを回転可能な回転部材と、前記回転部材に配され、前記回転部材の回転に伴って前記第1の軸の周りを回転するとともに、前記第1の軸に平行な第2の軸の周りを自転することにより、前記回転に伴って前記第1の軸に垂直な面内の向きが変化しないように構成された吸着ヘッドと、前記吸着ヘッドに負圧を付勢可能な真空排気装置と、前記回転部材の前記第1の軸の周りの回転角度に基づき、前記吸着ヘッドへの負圧の付勢及び解除を制御可能であって、前記回転部材の前記第1の軸の周りの回転角度が、前記吸着ヘッドが前記第1の搬送手段の上方に位置する第1の角度であるときに前記吸着ヘッドに負圧又は解除を選択可能であり、前記吸着ヘッドが前記第2の搬送手段の上方に位置する第2の角度であるときに前記吸着ヘッドに負圧の解除が可能であり、前記第1の角度と前記第2の角度との間の第3の角度であるときに前記吸着ヘッドに負圧の付勢が可能な、回転バルブ機構とを備え、前記回転バルブ機構は、前記回転角度が前記第1の角度であるときに、前記正規状態では前記吸着ヘッドに負圧が付勢し、前記非正規状態では前記吸着ヘッドに負圧を付勢しない構成としてもよい。 In another aspect, in any of the aspects described above, the transfer means includes a rotating member that is rotatable around a first axis, and is disposed on the rotating member, and is configured to move along with the rotation of the rotating member. By rotating around the first axis and rotating around a second axis parallel to the first axis, the direction in the plane perpendicular to the first axis is changed due to the rotation. a vacuum evacuation device capable of applying negative pressure to the suction head; and a suction head configured such that the suction head does not change; energization and release of negative pressure can be controlled, and the rotation angle of the rotating member around the first axis is a first angle at which the suction head is located above the first conveying means. Negative pressure on the suction head can be selected or released at a certain time, and negative pressure can be released on the suction head when the suction head is located at a second angle above the second conveying means. and a rotary valve mechanism capable of applying negative pressure to the suction head when the suction head is at a third angle between the first angle and the second angle, the rotary valve mechanism may be configured such that when the rotation angle is the first angle, negative pressure is applied to the suction head in the normal state, and negative pressure is not applied to the suction head in the irregular state. .
係る構成により、物品移載装置に物品吸引時における真空破壊が可能な回転バルブ機構を用いた構成を採ることにより、搬送手段から別の搬送手段に物品を移載する際に、物品を選択的に除外することが可能な物品移載装置及び物品移載方法を具体的に実現できる。 With this configuration, by adopting a configuration in which the article transfer device uses a rotary valve mechanism that can break the vacuum when suctioning the article, it is possible to selectively transfer the article from one conveying means to another conveying means. It is possible to specifically realize an article transfer device and an article transfer method that can be excluded.
また、別の態様では、上記何れかに記載の態様において、さらに、前記吸着ヘッドに陽圧を付勢可能な真空破壊手段を備え、前記回転バルブ機構は、前記回転角度が前記第1の角度であるときに、前記正規状態では前記吸着ヘッドに負圧を付勢し、前記非正規状態では前記吸着ヘッドに負圧及び陽圧を付勢し、前記回転角度が前記第2の角度であるときに前記吸着ヘッドに負圧及び陽圧を付勢し、前記回転角度が前記第3の角度であるときに前記吸着ヘッドに負圧を付勢する構成としてもよい。 In another aspect, in any of the aspects described above, the suction head is further provided with a vacuum breaking means capable of applying positive pressure, and the rotary valve mechanism is arranged so that the rotation angle is the first angle. When, in the normal state, negative pressure is applied to the suction head, in the irregular state, negative pressure and positive pressure are applied to the suction head, and the rotation angle is the second angle. It may also be configured such that negative pressure and positive pressure are sometimes applied to the suction head, and negative pressure is applied to the suction head when the rotation angle is the third angle.
係る構成により、搬送手段から別の搬送手段に物品を移載する際に、物品を選択的に除外することが可能な回転バルブ機構を具体的に実現できる。 With such a configuration, it is possible to concretely realize a rotary valve mechanism that can selectively remove an article when transferring the article from one conveying means to another conveying means.
また、別の態様では、上記何れかに記載の態様において、前記第1の搬送手段では、複数の物品が並列に搬送され、前記移載手段は、並列に搬送される複数の物品を同時に吸着保持し、吸着保持した複数の物品を前記第2の搬送手段の搬送方向に対し直列に変換して前記第2の搬送手段に移載し、前記第2の搬送手段では、複数の物品が直列に搬送される構成としてもよい。 In another aspect, in the aspect described in any one of the above, the first conveyance means conveys a plurality of articles in parallel, and the transfer means simultaneously adsorbs the plurality of articles conveyed in parallel. The plurality of articles held by suction are transferred to the second conveyance means in series with respect to the conveyance direction of the second conveyance means, and in the second conveyance means, the plurality of articles are serially transferred to the second conveyance means. It may also be configured such that it is transported to
係る構成により、並列に搬送されて供給される複数の商品を直列に並べ替えて搬送する複列合流搬送により、箱詰めに適した商品の配列への並び替えが可能となる。 With such a configuration, it is possible to rearrange the products into an arrangement suitable for packaging by double-row merging conveyance in which a plurality of products that are conveyed and supplied in parallel are rearranged and conveyed in series.
また、別の態様では、上記何れかに記載の態様において、前記物品は長尺状であり、前記第1の搬送手段では、前記物品は長尺方向に平行に搬送され、前記移載手段は、長尺方向に平行に搬送される物品を吸着保持し、吸着保持した物品を搬送方向と長尺方向とが垂直になるように変換して前記第2の搬送手段に移載し、前記第2の搬送手段では、前記物品は長尺方向と垂直に搬送される構成としてもよい。 In another aspect, in any of the aspects described above, the article is elongated, the first conveying means conveys the article in parallel to the elongated direction, and the transfer means , suction-holding an article conveyed parallel to the longitudinal direction, converting the suction-held article so that the conveying direction and the longitudinal direction are perpendicular, and transferring it to the second conveying means; In the second conveyance means, the article may be conveyed perpendicularly to the longitudinal direction.
係る構成により、物品の搬送形態を商品の形態や梱包形態に適合できる。 With such a configuration, the transport form of the article can be adapted to the form of the product and the form of packaging.
≪実施の形態≫
実施の形態に係る物品移載装置1の構成について図面を用いて説明する。ここで、本明細書では、各図におけるX方向、Y方向、Z方向を、それぞれ、幅方向、奥行方向、高さ方向とする場合があり、高さ方向の正方向を「上」方向、負方向を「下」方向とする場合がある。また、各図面における部材の縮尺は必ずしも実際のものと同じであるとは限らない。また、本明細書において、数値範囲を示す際に用いる符号「~」は、その両端の数値を含む。また、本実施形態で記載している、材料、数値等は好ましいものを例示しているだけであり、それに限定されることはない。また、本開示の技術的思想の範囲を逸脱しない範囲で、適宜変更は可能である。また、他の実施形態との構成の一部同士の組み合わせは、矛盾が生じない範囲で可能である。
≪Embodiment≫
The configuration of the article transfer device 1 according to the embodiment will be explained using the drawings. Here, in this specification, the X direction, Y direction, and Z direction in each figure may be referred to as the width direction, depth direction, and height direction, respectively, and the positive direction in the height direction is referred to as the "up" direction, The negative direction may be referred to as the "down" direction. Further, the scale of the members in each drawing is not necessarily the same as the actual one. Furthermore, in this specification, the symbol "~" used to indicate a numerical range includes the numerical values at both ends thereof. Further, the materials, numerical values, etc. described in this embodiment are merely exemplified as preferable ones, and the present invention is not limited thereto. Further, changes can be made as appropriate without departing from the scope of the technical idea of the present disclosure. Moreover, combinations of parts of the configurations with other embodiments are possible within the range that does not cause any contradiction.
<物品移載装置1の構成について>
物品移載装置1の構成について図面を用いて説明する。図1は、実施の形態に係る物品移載装置1の構成を示す斜視図、図2は平面図、図3は正面図、図4は右側面図である。図5は、移載手段30の右側断面図であって、図2におけるA-A断面図である。
<About the configuration of the article transfer device 1>
The configuration of the article transfer device 1 will be explained using the drawings. FIG. 1 is a perspective view showing the configuration of an article transfer device 1 according to an embodiment, FIG. 2 is a plan view, FIG. 3 is a front view, and FIG. 4 is a right side view. FIG. 5 is a right sectional view of the transfer means 30, and is a sectional view taken along line AA in FIG.
(全体構成)
図1~4に示すように、物品移載装置1は、物品Wを搬送するの搬送手段10と、搬送手段10上の所定の位置における物品Wの通過を検知可能な検知手段20と、搬送手段10の後段に配された搬送手段40と、物品Wを搬送手段10から搬送手段40に移載可能な移載手段30と、排出路50と、真空排気装置60と、真空破壊手段70と、制御部80とを備える。
(overall structure)
As shown in FIGS. 1 to 4, the article transfer device 1 includes a conveyance means 10 for conveying the article W, a detection means 20 capable of detecting passage of the article W at a predetermined position on the conveyance means 10, and a conveyance means 10 for conveying the article W. A conveying means 40 arranged after the means 10, a transfer means 30 capable of transferring the article W from the conveying means 10 to the conveying means 40, a discharge path 50, a vacuum evacuation device 60, and a vacuum breaking means 70. , and a control section 80.
(各部の構成概要)
以下、物品移載装置1における、各部の構成の概要について、説明する。
(Summary of configuration of each part)
Hereinafter, an overview of the configuration of each part in the article transfer device 1 will be explained.
[物品W]
物品移載装置1に用いる物品Wの構成について説明する。被包装物である内容物は、例えば、加工食品、菓子、日用品等、一般に流通する商品である。
[Goods W]
The configuration of the article W used in the article transfer device 1 will be explained. The contents to be packaged are, for example, commonly distributed products such as processed foods, confectionery, and daily necessities.
物品Wは、筒状の包装部材に被包装物と気体が封入された包装体胴部L0とその両端のエンドシール部L1を有する、ピロー包装体を用いることができる。ピロー包装体は、例えば、樹脂フィルムからなる長尺筒状の包装部材に被包装物を気体と共に封入し、被包装物の前後を、例えば、ヒートシール等により封止した後、シール部分を含む範囲を所定長さに切断することにより形成されており、通常、平面視において扁平な長尺状の形態を成す。本明細書では、包装体の両端に位置する2つのエンドシール部L1を結ぶ方向を長尺方向とし、長尺方向に垂直な2方向のうち長さの長い方を幅方向、短い方を厚み方向とする。 As the article W, a pillow package can be used, which has a package body L0 in which a packaged object and gas are sealed in a cylindrical packaging member, and end seal portions L1 at both ends of the package body L0. A pillow package includes, for example, a long cylindrical packaging member made of a resin film, in which the packaged item is sealed together with gas, and the front and back of the packaged item are sealed by, for example, heat sealing. It is formed by cutting a range into a predetermined length, and usually has a flat elongated shape when viewed from above. In this specification, the direction connecting the two end seal parts L1 located at both ends of the package is defined as the longitudinal direction, and of the two directions perpendicular to the longitudinal direction, the longer one is defined as the width direction, and the shorter one is defined as the thickness direction. direction.
しかしながら、物品移載装置1に使用することができる物品Wは、ピロー包装体に限定されるものではない。例えば、立方体形状や直方体形状の箱に被包装物である内容物が詰められた形態のものであってもよい。 However, the article W that can be used in the article transfer device 1 is not limited to a pillow package. For example, the package may be in the form of a cube-shaped or rectangular parallelepiped-shaped box filled with the contents to be packaged.
[搬送手段10]
搬送手段10は、前段の工程から移載された物品Wを後段の移載手段30に搬送する搬送機構である。
[Transporting means 10]
The conveyance means 10 is a conveyance mechanism that conveys the article W transferred from the previous step to the subsequent transfer means 30.
本実施の形態では、搬送手段10は、搬送方向に直列に配された複数のコンベア11(1)~(5)(以後、まとめて「コンベア11」と記す場合がある)及びコンベア16から構成され、制御部80の指示に基づき移載手段30の動きと連動するように駆動され、一対の物品Wを一組にして所定の間隔を空けて、図3における紙面左方から右方に向けて搬送する(図1、図2、図3、における、T1、T2)。また、このとき、物品Wは、搬送方向と物品Wの長尺方向とを平行にした状態で、一方のエンドシール部L1を搬送方向に向けた状態で搬送される。 In the present embodiment, the conveyance means 10 includes a plurality of conveyors 11 (1) to (5) (hereinafter collectively referred to as "conveyors 11") arranged in series in the conveyance direction and a conveyor 16. is driven in conjunction with the movement of the transfer means 30 based on instructions from the control unit 80, and the pair of articles W are grouped together at a predetermined interval and moved from the left to the right in the paper of FIG. (T1, T2 in FIGS. 1, 2, and 3). Further, at this time, the article W is conveyed with the conveyance direction and the longitudinal direction of the article W being parallel to each other, with one end seal portion L1 facing the conveyance direction.
コンベア11は、一対のローラ12(1)~(5)と、その間に懸架された吸引搬送ベルト13(1)~(5)と、物品Wを吸着するための吸着手段(不図示)を備える。 The conveyor 11 includes a pair of rollers 12 (1) to (5), suction conveyor belts 13 (1) to (5) suspended between them, and suction means (not shown) for suctioning the article W. .
コンベア11は、搬送方向に向かって左右2つのコンベアL、Rに分割されており、制御部80の指示に基づき左右に分割されたコンベアL、Rを異なる速度で独立に搬送動作させることができるように構成されている。 The conveyor 11 is divided into two left and right conveyors L and R in the conveyance direction, and the left and right divided conveyors L and R can be operated independently at different speeds based on instructions from the control unit 80. It is configured as follows.
本実施の形態では、コンベア11における左右のコンベアL、Rには、一対の物品Wのそれぞれが1つずつ吸着保持され、一対の物品Wを1単位として搬送されるように構成されている。 In this embodiment, the left and right conveyors L and R of the conveyor 11 are configured to attract and hold one pair of articles W, respectively, and to transport the pair of articles W as one unit.
コンベア16は、一対のローラ126と、その間に懸架された吸引搬送ベルト136と、物品Wを吸着するための吸着手段(不図示)を備える。コンベア16には、コンベア15から供給される一対の物品Wがそれぞれ吸着保持され、一対の物品Wが1単位となり搬送されるように構成されている。 The conveyor 16 includes a pair of rollers 126, a suction conveyance belt 136 suspended between them, and suction means (not shown) for suctioning the article W. The pair of articles W supplied from the conveyor 15 are each sucked and held on the conveyor 16, and the pair of articles W is configured to be conveyed as one unit.
[検知手段20]
検知手段20は、搬送手段10における搬送経路上の所定の位置に配され、物品Wの通過を検出する物品通過検知手段である。検知手段20には、反射型又は透過型の光センサ、レーザー検出器、撮像素子、ライン状の複数の画素について画像を取得可能なラインカメラ等を用いることができる。また、検知手段20は、発光部と受光部とが搬送経路を挟んで上下に配されていてもよい。
[Detection means 20]
The detection means 20 is an article passage detection means that is disposed at a predetermined position on the conveyance path of the conveyance means 10 and detects passage of the article W. As the detection means 20, a reflective or transmissive optical sensor, a laser detector, an image sensor, a line camera capable of acquiring images of a plurality of line pixels, or the like can be used. Further, the detection means 20 may have a light emitting section and a light receiving section arranged above and below with the conveyance path interposed therebetween.
検知手段20は、搬送手段10の搬送方向に沿って複数個所に配されている構成を採る。本実施の形態では、検知手段21がコンベア11(1)の直前に配され、別の検知手段22がコンベア11(5)とコンベア16との間の配された構成を採る(検知手段21、22はまとめて「検知手段20」と記す場合がある)。 The detection means 20 is arranged at a plurality of locations along the conveyance direction of the conveyance means 10. In this embodiment, the detection means 21 is arranged immediately before the conveyor 11(1), and another detection means 22 is arranged between the conveyor 11(5) and the conveyor 16 (detection means 21, 22 may be collectively referred to as "detection means 20").
検知手段20は、コンベア11における左右のコンベアL、Rを搬送される一対の物品Wそれぞれについて、当該物品Wが検知手段20を通過する時刻を検出することができる。これにより、コンベアL、Rを搬送される一対の物品Wの通過時刻の差(物品搬送周期の位相差)や、左右何れかの物品Wの欠品を検出して制御部80に検出結果を出力することができる。 The detection means 20 can detect, for each of the pair of articles W conveyed on the left and right conveyors L and R of the conveyor 11, the time at which the article W passes through the detection means 20. As a result, the difference in passing times of the pair of articles W conveyed on the conveyors L and R (phase difference in article conveyance cycle) and the shortage of either the right or left article W are detected and the detection results are sent to the control unit 80. It can be output.
具体的には、検知手段21において、コンベアL、Rによって搬送される物品の何れかに物品に所定時間以上の遅れが検出された場合には、制御部80の指示に基づき、後段のコンベア11(1)~(5)の何れか又は全部について、コンベアL、Rを異なる速度で駆動することにより、遅れを補正することができる。このとき、コンベア11(1)~(5)における各コンベアL、Rの速度又は速度差が、コンベア11(1)~(5)ごとに異なるように設定される構成としてもよい。 Specifically, when the detection means 21 detects a delay of more than a predetermined time in either of the articles conveyed by the conveyors L and R, the subsequent conveyor 11 Regarding any or all of (1) to (5), the delay can be corrected by driving the conveyors L and R at different speeds. At this time, the speeds or speed differences of the conveyors L and R in the conveyors 11(1) to (5) may be set to be different for each of the conveyors 11(1) to (5).
また、検知手段22において、コンベアL、Rによって搬送される物品の何れかに所定時間以上の遅れが検出された場合には、制御部80の指示に基づき、後段の移載手段30により、当該一対の物品は搬送手段40に移載することなく、排出路50にそのまま通過させて排出する処理が行われる。検知手段21において、左右何れかの物品Wの欠品が検出された場合にも同様の処理が行われる。 Further, when the detection means 22 detects a delay of more than a predetermined time in either of the articles conveyed by the conveyors L, R, the subsequent transfer means 30, based on instructions from the control section 80, The pair of articles is not transferred to the conveyance means 40, but is allowed to pass through the discharge path 50 as is, and is discharged. Similar processing is performed when the detecting means 21 detects that either the right or left article W is out of stock.
[移載手段30]
移載手段30は、物品Wを搬送手段10から搬送手段40に移載可能な機構ユニットである。
[Transfer means 30]
The transfer means 30 is a mechanical unit that can transfer the article W from the conveyance means 10 to the conveyance means 40.
図1~4に示すように、主な要素として、フレーム31と、固定軸32と、上部回転板33と、吸着ユニット34(1)~(6)と、接続チューブ35(1)~(6)と、吸着ヘッド36(1)~(6)と、主ロータ37と、ステータ38と、モータ39とを備える。 As shown in FIGS. 1 to 4, the main elements are a frame 31, a fixed shaft 32, an upper rotating plate 33, suction units 34(1) to (6), and connecting tubes 35(1) to (6). ), suction heads 36 (1) to (6), a main rotor 37, a stator 38, and a motor 39.
以下、移載手段30における、各部の構成について、説明する。 The configuration of each part in the transfer means 30 will be explained below.
フレーム31は、基盤31aから立設され、移載手段30の主軸30Axを軸支するための逆L字形状をした構造部材である。 The frame 31 is an inverted L-shaped structural member that stands upright from the base 31a and supports the main shaft 30Ax of the transfer means 30.
固定軸32は、フレーム31によって主軸30Axに沿って軸支される鉛直方向に延伸する固定軸である。 The fixed shaft 32 is a fixed shaft that is supported along the main axis 30Ax by the frame 31 and extends in the vertical direction.
上部回転板33は、軸受け33aを介して固定軸32に軸支されており、主軸30Axの回りを半時計方向(図1、図2、におけるR1)に回転する円盤状の部材である。上部回転板33は、後述する主ロータ37の回転に伴って主軸30Axの回りを回転する。 The upper rotating plate 33 is a disk-shaped member that is pivotally supported by the fixed shaft 32 via a bearing 33a and rotates counterclockwise (R1 in FIGS. 1 and 2) around the main shaft 30Ax. The upper rotary plate 33 rotates around a main shaft 30Ax in accordance with the rotation of a main rotor 37, which will be described later.
上部回転板33には、周縁部付近に複数の吸着ユニット34(1)~(6)が、それぞれの中心軸34Axの回りを自転(図1、図2、におけるR2)可能な状態で周方向に等間隔に懸架されており、吸着ユニット34(1)~(6)には、物品Wを吸着保持するための吸着ヘッド36(1)~(6)が最下部に接続されている。 The upper rotary plate 33 has a plurality of suction units 34 (1) to (6) near its periphery in a circumferential direction in a state where they can rotate around their respective central axes 34Ax (R2 in FIGS. 1 and 2). The suction units 34(1) to (6) have suction heads 36(1) to (6) for suctioning and holding the article W connected at the bottom thereof.
上部回転板33の回転に伴って吸着ユニット34(1)~(6)も主軸30Axの回りを回転(図1、図2、におけるR1)する際に、各吸着ユニット34は、主軸30Axの回りの回転に伴って、それぞれが中心軸34Axの回りを半時計方向に自転して(図1、図2、におけるR2)、結果として、中心軸34Ax回りの角度は変化しないように構成されている。そのため、吸着ユニット34(1)~(6)に保持された吸着ヘッド36(1)~(6)は、主軸30Axの回りの回転に伴って中心軸34Ax回りの角度が変化することなく、吸着ヘッド36に吸着保持された物品WのX-X平面方向の向きも変化しない。 When the suction units 34 (1) to (6) also rotate around the main shaft 30Ax (R1 in FIGS. 1 and 2) with the rotation of the upper rotary plate 33, each suction unit 34 rotates around the main shaft 30Ax. With the rotation of , each rotates counterclockwise around the central axis 34Ax (R2 in FIGS. 1 and 2), and as a result, the angle around the central axis 34Ax does not change. . Therefore, the suction heads 36 (1) to (6) held by the suction units 34 (1) to (6) do not change their angles around the central axis 34Ax as they rotate around the main axis 30Ax. The orientation of the article W held by the head 36 in the XX plane direction also does not change.
これより、移載手段30によれば、物品Wの平面方向の向きを変えることなく、搬送手段10から物品Wを搬送手段40に移載することができる。 Therefore, according to the transfer means 30, the article W can be transferred from the conveyance means 10 to the conveyance means 40 without changing the plane direction of the article W.
主ロータ37は、上部回転板33と一体となって、主軸30Axの回りを半時計方向(図1、図2、におけるR1)に回転する円盤状の部材である。 The main rotor 37 is a disk-shaped member that rotates in a counterclockwise direction (R1 in FIGS. 1 and 2) around the main shaft 30Ax, integrally with the upper rotating plate 33.
ステータ38は、主ロータ37の下方に位置し回転のベースとなる部材であり、主軸30Axを駆動軸391とし主ロータ37を回転駆動するモータ39を内装する。 The stator 38 is a member located below the main rotor 37 and serves as a rotational base, and includes a motor 39 that rotationally drives the main rotor 37 with the main shaft 30Ax as a drive shaft 391.
また、主ロータ37、ステータ38は、吸着ヘッド36(1)~(6)への配管経路における回転バルブ機構として機能する。 Further, the main rotor 37 and stator 38 function as a rotary valve mechanism in the piping route to the suction heads 36(1) to (6).
[移載手段30の詳細構成]
以下、物品移載装置1における、各部の構成の詳細について、説明する。
[Detailed configuration of transfer means 30]
The details of the configuration of each part in the article transfer device 1 will be described below.
図6(a)は、吸着ユニット34、接続チューブ35、吸着ヘッド36の構成を示す正面図、(b)は、右側面図である。 FIG. 6(a) is a front view showing the configuration of the suction unit 34, the connection tube 35, and the suction head 36, and FIG. 6(b) is a right side view.
図6(a)、図6(b)に示すように、吸着ユニット34は、シャフト345にプーリー342が係合されており、軸方向に中心軸34Axを挟んで配される一対の軸受け341に回転自在に軸支され、軸受け341を介して上部回転板33と主ロータ37に取り付けられている。 As shown in FIGS. 6(a) and 6(b), in the suction unit 34, a pulley 342 is engaged with a shaft 345, and a pair of bearings 341 are disposed on both sides of the central axis 34Ax in the axial direction. It is rotatably supported and attached to the upper rotating plate 33 and the main rotor 37 via a bearing 341.
図7(a)は、図3におけるB-B断面図である。同図に示すように、主ロータ37の上面には、固定軸32の回りに固定プーリー346が、周縁付近に周方向に等間隔にプーリー342(1)~(6)が、周方向におけるプーリー342(1)~(5)、(6)~(1)の間に5個の従動プーリー344が配されている。さらに、周方向におけるプーリー342(5)と(6)の間には、プーリー342(5)と(6)に対し固定プーリー348よりも離れた位置に、固定プーリー348を上下に挟むように一対の従動プーリー349が配されている。 FIG. 7(a) is a sectional view taken along line BB in FIG. As shown in the figure, on the upper surface of the main rotor 37, a fixed pulley 346 is arranged around the fixed shaft 32, and pulleys 342 (1) to 342 (6) are arranged at equal intervals in the circumferential direction near the periphery. Five driven pulleys 344 are arranged between 342(1)-(5) and (6)-(1). Further, between the pulleys 342 (5) and (6) in the circumferential direction, a pair of fixed pulleys 348 is placed between the fixed pulleys 348 above and below at a position farther from the pulleys 342 (5) and (6) than the fixed pulley 348. A driven pulley 349 is arranged.
そして、エンドレスベルト343が、図7(a)に示される経路、すなわち、プーリー342(1)~(5)の間では、プーリー342(1)~(5)と従動プーリー344とに交互に懸架され、プーリー342(5)~(6)の間では、一対の従動プーリー349を経由して固定プーリー348に懸架される経路で引き回される構成を採る。 The endless belt 343 is alternately suspended between the pulleys 342(1) to 342(5) and the driven pulley 344 along the path shown in FIG. Between the pulleys 342(5) and 342(6), a configuration is adopted in which the pulley is routed via a pair of driven pulleys 349 and suspended from a fixed pulley 348.
係る構成により、主ロータ37の回転に伴って吸着ヘッド36(1)~(6)に接続されるシャフト345と同心に接続されたプーリー342(1)~(6)が、主軸30Axの回りを回転したときに、プーリー342(1)~(6)はエンドレスベルト343によってそれぞれの中心軸34Ax回りの角度を一定に保ち、吸着ヘッド36(1)~(6)の中心軸34Ax回りの角度を一定に保つことができる。 With this configuration, as the main rotor 37 rotates, the pulleys 342 (1) to (6), which are connected concentrically to the shaft 345 connected to the suction heads 36 (1) to (6), rotate around the main shaft 30Ax. When rotated, the pulleys 342 (1) to (6) maintain a constant angle around their respective central axes 34Ax by the endless belt 343, and the angles around the central axes 34Ax of the suction heads 36 (1) to (6) are kept constant by the endless belt 343. can be kept constant.
シャフト345の下端は上方からシリンダ346に挿抜自在に挿入されており、シリンダ346の下方には、気室347と吸着ヘッド36が、軸方向に当該順に接続されている。 The lower end of the shaft 345 is inserted into and removed from the cylinder 346 from above, and an air chamber 347 and a suction head 36 are connected in this order in the axial direction below the cylinder 346.
シリンダ346の外周面にはカムフォロア346aが突出しており、カムフォロア346aがステータ38の外周面に設けられたカム溝38aに沿って上下に動くことにより、シリンダ346は軸方向に往復移動して、吸着ヘッド36を上下に移動させることができる。 A cam follower 346a protrudes from the outer peripheral surface of the cylinder 346, and as the cam follower 346a moves up and down along a cam groove 38a provided on the outer peripheral surface of the stator 38, the cylinder 346 reciprocates in the axial direction and attracts The head 36 can be moved up and down.
図8(a)は、図3におけるD-D断面図である。同図に示すように、吸着ヘッド36(1)~(6)に接続されたシリンダ346(1)~(6)に配されたカムフォロア346aが、ステータ38の周面のカム溝38aに係合して動作する。 FIG. 8(a) is a sectional view taken along line DD in FIG. As shown in the figure, cam followers 346a arranged in cylinders 346(1) to (6) connected to suction heads 36(1) to (6) engage with cam grooves 38a on the circumferential surface of the stator 38. and it works.
図9(a)は、物品移載装置1における、吸着ヘッド36の回転角度θと吸着ヘッド36との高さとの関係を示す図である。主ロータ37の円周と搬送手段10とが平行になるときの回転角度θ(図8(a)における6時方向)を0度、主ロータ37の円周と搬送手段40とが平行になるときの回転角度θ(図8(a)における3時方向)を+90度としたとき、カム溝38aは、図9(a)に示すように、回転角度θが0度と90度付近において高さLまで吸着ヘッド36が下降し、その前後では吸着ヘッド36は高さHまで緩やかに上昇して高さHを維持するように構成されている。ここで、高さLとは吸着ヘッド36の吸着孔361が物品Wを吸引可能な高さをさし、高さHとは物品Wの移載に必要な高さをさす。 FIG. 9A is a diagram showing the relationship between the rotation angle θ of the suction head 36 and the height of the suction head 36 in the article transfer device 1. The rotation angle θ (6 o'clock direction in FIG. 8(a)) when the circumference of the main rotor 37 and the conveyance means 10 become parallel is 0 degrees, and the circumference of the main rotor 37 and the conveyance means 40 become parallel. When the rotation angle θ (3 o'clock direction in FIG. 8(a)) is +90 degrees, the cam groove 38a has a high height when the rotation angle θ is around 0 degrees and 90 degrees, as shown in FIG. 9(a). The suction head 36 descends to a height L, and before and after that, the suction head 36 gradually rises to a height H and maintains the height H. Here, the height L refers to the height at which the suction hole 361 of the suction head 36 can suck the article W, and the height H refers to the height necessary for transferring the article W.
吸着ヘッド36には、下面に複数の吸着孔361が設けられている。複数の吸着孔361は吸着ヘッド36の内に配設された管路36aと気室347内の管路347a、347bとを経由して、気室347の外周面から延出される接続チューブ35に接続される。 The suction head 36 is provided with a plurality of suction holes 361 on the lower surface. The plurality of suction holes 361 are connected to the connecting tube 35 extending from the outer peripheral surface of the air chamber 347 via a conduit 36a disposed in the suction head 36 and conduits 347a and 347b in the air chamber 347. Connected.
図7(b)は、図3におけるC-C断面図である。同図に示すように、平面視において、吸着ヘッド36(1)~(6)に接続された気室347(1)~(6)内の管路347bから延出される接続チューブ35(1)~(6)は主ロータ37の外周面において、主ロータ37内に設けられた管路37bに接続され、主ロータ37(1)~(6)の下面の回転出口孔37a(1)~(6)に挿通されている。本実施の形態では、回転出口孔37a(1)~(6)は、孔中心の主軸30Axの円周方向における角度(例えば、図8(a)に示す6時方向(0°)に対する偏角)が、対応する吸着ユニット34(1)~(6)の中心軸34Axの主軸30Axの円周方向における角度と一致するように構成されている。そのため、回転出口孔37a(1)~(6)と吸着ヘッド36(1)~(6)との主軸30Axの周りを回転角度は一致する構成としている。しかしながら、回転出口孔37aが開設される主軸30Axの円周方向における角度は上記した例に限定されないことは言うもでもない。 FIG. 7(b) is a sectional view taken along line CC in FIG. As shown in the figure, in plan view, a connecting tube 35(1) extends from a conduit 347b in the air chambers 347(1) to (6) connected to the suction heads 36(1) to (6). ~(6) are connected to the conduit 37b provided in the main rotor 37 on the outer circumferential surface of the main rotor 37, and rotation outlet holes 37a(1)~( 6). In the present embodiment, the rotation outlet holes 37a(1) to (6) are formed at an angle in the circumferential direction of the main axis 30Ax at the center of the hole (for example, an angle of deviation with respect to the 6 o'clock direction (0°) shown in FIG. 8(a)). ) is configured to coincide with the angle of the main axis 30Ax of the central axis 34Ax of the corresponding suction unit 34(1) to (6) in the circumferential direction. Therefore, the rotation angles of the rotation exit holes 37a (1) to (6) and the suction heads 36 (1) to (6) around the main axis 30Ax are made to coincide with each other. However, it goes without saying that the angle in the circumferential direction of the main shaft 30Ax at which the rotation outlet hole 37a is formed is not limited to the above example.
図8(a)は、図3におけるD-D断面図、(b)は、図3におけるE-E断面図である。図8(a)に示すように、ステータ38の上面には、周方向における所定の角度の範囲に表面が凹陥没してなる固定バルブ気室381、382、383が形成されている。 8(a) is a sectional view taken along line DD in FIG. 3, and FIG. 8(b) is a sectional view taken along line EE in FIG. As shown in FIG. 8(a), fixed valve air chambers 381, 382, and 383 are formed on the upper surface of the stator 38 by recessing the surface within a predetermined angle range in the circumferential direction.
なお、固定バルブ気室381が設けられた角度範囲:θ1、固定バルブ気室382が設けられた角度範囲:θ2、固定バルブ気室383が設けられた角度範囲:θ3は、適宜、決定することができる。 Note that the angular range in which the fixed valve air chamber 381 is provided: θ1, the angular range in which the fixed valve air chamber 382 is provided: θ2, and the angular range in which the fixed valve air chamber 383 is provided: θ3 should be determined as appropriate. I can do it.
ステータ38の上面の固定バルブ気室381、382、383は、対向する主ロータ37下面の回転出口孔37a(1)~(6)と半径方向の位置が重なるように構成されており、主ロータ37の回転に伴って回転出口孔37aと固定バルブ気室381、382、383とが平面視において重なったとときに、固定バルブ気室381、382、383から回転出口孔37aへの流路が確保される。このように、主ロータ37とステータ38は、主ロータ37の回転に伴う相対的な角度変化によって流路のオン/オフが可能な回転バルブ機構として機能する。 The fixed valve air chambers 381, 382, and 383 on the upper surface of the stator 38 are configured to overlap in radial position with the rotating outlet holes 37a (1) to (6) on the lower surface of the main rotor 37 facing each other. 37, when the rotation outlet hole 37a and the fixed valve air chambers 381, 382, 383 overlap in plan view, a flow path from the fixed valve air chambers 381, 382, 383 to the rotation outlet hole 37a is secured. be done. In this way, the main rotor 37 and the stator 38 function as a rotary valve mechanism that can turn on and off the flow path by changing the relative angle as the main rotor 37 rotates.
また、図8(b)に示すように、ステータ38の固定バルブ気室381、382、383には底面にそれぞれ圧力供給孔381a、382a、383aが開設されており、孔381a、382a、383aは真空配管61を介して真空排気装置60に接続され、圧力供給孔383aは破壊エア配管71を介して真空破壊手段70に接続され、圧力供給孔381aは電磁弁72を介して破壊エア配管71に接続される構成を成す。 Further, as shown in FIG. 8(b), pressure supply holes 381a, 382a, and 383a are provided at the bottom of the fixed valve air chambers 381, 382, and 383 of the stator 38, respectively. The pressure supply hole 383a is connected to the vacuum evacuation device 60 via the vacuum pipe 61, the pressure supply hole 383a is connected to the vacuum break means 70 via the break air pipe 71, and the pressure supply hole 381a is connected to the break air pipe 71 via the electromagnetic valve 72. form a connected configuration.
図9は、吸着ヘッド36の回転角度θと回転出口孔37aに供給される圧力との関係を示す図であって、(b)は、電磁弁27が開いている状態、(c)は、電磁弁27が開いている状態での動作を表す図である。 FIG. 9 is a diagram showing the relationship between the rotation angle θ of the suction head 36 and the pressure supplied to the rotation outlet hole 37a, in which (b) shows a state in which the solenoid valve 27 is open, and (c) shows FIG. 6 is a diagram illustrating the operation when the electromagnetic valve 27 is open.
先ず、角度範囲θ2では、固定バルブ気室382から回転出口孔37aへの流路が確保され、回転出口孔37aから固定バルブ気室382に真空の圧力P1が付勢される。また、角度範囲θ3では、固定バルブ気室383から回転出口孔37aへの流路が確保され、固定バルブ気室383から回転出口孔37aに真空破壊エア(陽圧)が供給されて、真空が解除されて常圧P2が付勢される。 First, in the angle range θ2, a flow path from the fixed valve air chamber 382 to the rotating outlet hole 37a is secured, and vacuum pressure P1 is applied to the fixed valve air chamber 382 from the rotating outlet hole 37a. Further, in the angle range θ3, a flow path from the fixed valve air chamber 383 to the rotary outlet hole 37a is secured, vacuum breaking air (positive pressure) is supplied from the fixed valve air chamber 383 to the rotary outlet hole 37a, and the vacuum is It is released and normal pressure P2 is applied.
さらに、角度範囲θ1では、固定バルブ気室382から回転出口孔37aへの流路が確保され、電磁弁27が閉じている場合には、図9(b)に示すように、回転出口孔37aから固定バルブ気室382に真空の圧力P1が付勢される。 Furthermore, in the angle range θ1, a flow path from the fixed valve air chamber 382 to the rotation outlet hole 37a is secured, and when the solenoid valve 27 is closed, as shown in FIG. Vacuum pressure P1 is applied to the fixed valve air chamber 382 from.
一方、電磁弁27が開いている場合には、図9(c)に示すように、固定バルブ気室383から回転出口孔37aに真空破壊エア(陽圧)が供給されて真空排気が解除されて常圧P2が付勢される。 On the other hand, when the solenoid valve 27 is open, as shown in FIG. 9(c), vacuum breaking air (positive pressure) is supplied from the fixed valve air chamber 383 to the rotary outlet hole 37a, and the evacuation is released. Normal pressure P2 is applied.
以上の構成により、主ロータ37の回転に伴って、回転出口孔37aが角度範囲θ1に存在する場合において、電磁弁27が閉じている場合には、吸着ヘッド36により物品Wが吸着保持され、回転動作により回転出口孔37aが角度範囲θ2に達した場合には、吸着ヘッド36により物品Wの吸着保持が継続され、さらに、回転出口孔37aが角度範囲θ3に到達したときに、吸着ヘッド36による物品Wの吸着保持が解除される。 With the above configuration, as the main rotor 37 rotates, when the rotation outlet hole 37a exists in the angular range θ1 and the electromagnetic valve 27 is closed, the article W is suction-held by the suction head 36, When the rotating exit hole 37a reaches the angle range θ2 due to the rotational operation, the suction head 36 continues to suction and hold the article W, and when the rotating exit hole 37a reaches the angular range θ3, the suction head 36 The adsorption and holding of the article W by the holder is released.
[搬送手段40]
搬送手段40は、移載手段30によって、搬送手段10から移載された物品Wを後段の工程に搬送する搬送機構である。本実施の形態では、搬送手段40は、搬送方向が搬送手段10の搬送方向と直交する向きに配されている。搬送手段40は、一対のローラ42と、その間に懸架された吸引搬送ベルト41と、物品Wを吸着するための吸着手段(不図示)を備える。
[Transporting means 40]
The transport means 40 is a transport mechanism that transports the article W transferred from the transport means 10 by the transfer means 30 to a subsequent process. In this embodiment, the conveying means 40 is arranged such that its conveying direction is perpendicular to the conveying direction of the conveying means 10. The conveyance means 40 includes a pair of rollers 42, a suction conveyance belt 41 suspended between them, and suction means (not shown) for suctioning the article W.
搬送手段40は、制御部80の指示に基づき移載手段30の動きと連動するように駆動され、物品Wは、吸引搬送ベルト41に所定の間隔を空けて移載され、ベルト面に吸着された状態で、図4における紙面左方から供給され、右方に向けて搬送される(図1、図2、図4、におけるT3)。このとき、物品Wは、搬送方向に対し物品Wの長尺方向を直交させ、小端面を搬送方向に向けた状態で搬送される。 The conveyance means 40 is driven in conjunction with the movement of the transfer means 30 based on instructions from the control unit 80, and the articles W are transferred onto the suction conveyance belt 41 at a predetermined interval and are attracted to the belt surface. In this state, the paper is supplied from the left side of the page in FIG. 4 and is conveyed toward the right (T3 in FIGS. 1, 2, and 4). At this time, the article W is conveyed with the longitudinal direction of the article W perpendicular to the conveyance direction and the small end face facing the conveyance direction.
なお、搬送手段40は、物品Wの流れにおける搬送手段10の後段に配されていればよく、搬送手段40と搬送手段10とのなす角度は上記に限定されるものではない。
[その他]
排出路50は、搬送手段10の後段に配された滑り台機構であり、物品Wの排出路として機能する。検知手段20が、物品Wが適切に通過しなかったことを検知したとき、移載手段30は搬送手段10から当該物品Wを取得して搬送手段40に移載せず、当該物品Wは搬送手段10から排出路50にそのまま排出される。
Note that the conveying means 40 only needs to be disposed downstream of the conveying means 10 in the flow of the articles W, and the angle between the conveying means 40 and the conveying means 10 is not limited to the above.
[others]
The discharge path 50 is a slide mechanism disposed downstream of the conveyance means 10, and functions as a discharge path for the article W. When the detection means 20 detects that the article W has not passed properly, the transfer means 30 does not acquire the article W from the conveyance means 10 and transfer it to the conveyance means 40, and the article W does not pass through the conveyance means. 10 to the discharge path 50 as it is.
真空排気装置60は、吸着ヘッド36に物品Wを吸着保持するための負圧P1を付勢するための真空ポンプであり、真空配管61を介して移載手段30のステータ38に内装された固定バルブ気室381、382、383の圧力供給孔381a、382a、383aに接続されている。 The evacuation device 60 is a vacuum pump for applying a negative pressure P1 for adsorbing and holding the article W on the adsorption head 36, and is connected to a fixed device installed inside the stator 38 of the transfer means 30 via a vacuum piping 61. It is connected to the pressure supply holes 381a, 382a, 383a of the valve air chambers 381, 382, 383.
真空破壊手段70は吸着ヘッド36に真空破壊エアを供給する陽圧供給手段であり、破壊エア配管71を介して移載手段30のステータ38に内装された固定バルブ気室381、383の圧力供給孔381a、383aに接続されている。真空破壊手段70から固定バルブ気室381、383に真空破壊エア(陽圧)が供給されると、負圧P1が解除されて常圧P2が付勢され、吸着ヘッド36による物品Wを吸着保持が解除される。 The vacuum breaking means 70 is a positive pressure supply means that supplies vacuum breaking air to the suction head 36, and supplies pressure to the fixed valve air chambers 381 and 383 installed in the stator 38 of the transfer means 30 via the breaking air piping 71. It is connected to holes 381a and 383a. When vacuum breaking air (positive pressure) is supplied from the vacuum breaking means 70 to the fixed valve air chambers 381 and 383, the negative pressure P1 is released and normal pressure P2 is applied, and the suction head 36 attracts and holds the article W. is canceled.
制御部80は、搬送手段10と、検知手段20と、移載手段30と搬送手段40に電気的に接続され、制御信号を出力して各ユニットの動作を制御する。制御部80は、例えば、一般的なCPU(Central Processing Unit)とRAM(Random Access Memory)と、これらで実行されるプログラムを備えるコンピュータとして実現される。制御部80は、記憶装置等から物品移載装置1にかかる制御プログラムをRAMに読みだして実行することにより、物品移載装置1を構成する各ユニットそれぞれが連関して動作するように制御して、物品移載装置1の機能を実現する。 The control section 80 is electrically connected to the transport means 10, the detection means 20, the transfer means 30, and the transport means 40, and outputs a control signal to control the operation of each unit. The control unit 80 is realized, for example, as a computer including a general CPU (Central Processing Unit), a RAM (Random Access Memory), and a program executed by these. The control unit 80 controls each unit constituting the article transfer device 1 to operate in conjunction with each other by reading out a control program for the article transfer device 1 from a storage device or the like into a RAM and executing it. Thus, the functions of the article transfer device 1 are realized.
(小 括)
以上のとおり、主ロータ37とステータ38からなる回転バルブ機構を用いた物品移載装置1によれば、吸着ヘッド36の回転角度θ1であるときにおいて、検知手段20が、物品Wが適切に通過したことが検知した正規状態においては、電磁弁27が閉じて吸着ヘッド36に負圧P1を付勢することにより、当該物品Wに対し移載手段30は搬送手段10から当該物品を取得して搬送手段40に移載する動作を行うことができる。
(Brief Summary)
As described above, according to the article transfer device 1 using the rotary valve mechanism consisting of the main rotor 37 and the stator 38, when the rotation angle θ1 of the suction head 36 is reached, the detection means 20 detects whether the article W has passed properly. In the normal state in which this is detected, the electromagnetic valve 27 closes and the suction head 36 is energized with negative pressure P1, so that the transfer means 30 acquires the article W from the conveyance means 10. It is possible to carry out an operation of transferring it to the transport means 40.
他方、検知手段20が、物品Wが適切に通過しなかったことを検知した非正規状態においては、電磁弁27を開いて吸着ヘッド36に負圧P1を付勢しない、すなわち、移載手段30は当該物品Wに対し、搬送手段10から当該物品Wを取得して搬送手段40に移載する動作を行わず、当該物品Wは搬送手段10から排出路50に排出される動作が行われる。 On the other hand, in an irregular state in which the detection means 20 detects that the article W has not passed properly, the electromagnetic valve 27 is not opened to apply negative pressure P1 to the suction head 36, that is, the transfer means 30 does not perform the operation of acquiring the article W from the conveyance means 10 and transfer it to the conveyance means 40 for the article W, but performs an operation of discharging the article W from the conveyance means 10 to the discharge path 50.
<物品移載装置1の動作について>
次に、本実施形態の物品移載装置1による、物品Wの移載動作について説明する。
<About the operation of the article transfer device 1>
Next, the transfer operation of the article W by the article transfer device 1 of this embodiment will be explained.
(搬送手段10、検知手段20による搬送動作)
搬送手段10では、搬送方向に直列に配された複数のコンベア11(1)~(5)に、一対の物品Wが一組となり所定の間隔を空けて、図3における紙面左方から右方に向けて搬送される(図1、図2、図3、におけるT1)。このとき、物品Wは、搬送方向と物品Wの長尺方向とを平行にした状態で、一方のエンドシール部L1を搬送方向に向けた状態で搬送される。
(Conveyance operation by conveyance means 10 and detection means 20)
In the conveyance means 10, a pair of articles W are arranged as a set on a plurality of conveyors 11(1) to (5) arranged in series in the conveyance direction with a predetermined interval, and are arranged from the left to the right on the paper in FIG. (T1 in FIGS. 1, 2, and 3). At this time, the article W is conveyed with the conveyance direction and the longitudinal direction of the article W parallel to each other, with one end seal portion L1 facing the conveyance direction.
また、コンベア11は、搬送方向に向かって左右2つのコンベアL、Rに分割されており、コンベアL、Rには、一対の物品Wのそれぞれが1つずつ吸着保持され、一対の物品Wを1単位として搬送される。 Further, the conveyor 11 is divided into two conveyors L and R on the left and right in the conveyance direction, and each of the pair of articles W is sucked and held on each of the conveyors L and R. Conveyed as one unit.
搬送動作では、先ず、検知手段21により、コンベア11(1)の左右のコンベアL、Rに投入される一対の物品Wそれぞれについて、当該物品Wが検知手段21を通過する時刻を検出する。 In the conveyance operation, first, the detection means 21 detects the time at which the article W passes through the detection means 21 for each of the pair of articles W to be thrown onto the left and right conveyors L and R of the conveyor 11(1).
そして、コンベアL、Rによって搬送される物品の何れかに所定時間以上の遅れが検出された場合には、制御部80の指示に基づき後段のコンベア11(1)~(5)の何れか又は全部に対しコンベアL、Rを異なる速度で駆動するような駆動制御がされ、当該遅れの補正が図られる。 When a delay of more than a predetermined time is detected in any of the articles conveyed by conveyors L and R, one of the subsequent conveyors 11(1) to (5) or Drive control is performed to drive the conveyors L and R at different speeds for all of them, and the delay is corrected.
次に、検知手段22により、コンベア16に投入される左右一対の物品Wそれぞれについて、当該物品Wが検知手段22を通過する時刻を検出する。 Next, the detection means 22 detects, for each of the pair of left and right articles W to be thrown onto the conveyor 16, the time at which the article W passes through the detection means 22.
そして、物品の何れかに所定時間以上の遅れが検出され、検知手段20が、物品Wが適切に通過しなかったことを検知した非正規状態においては、制御部80の指示に基づき、後段の移載手段30により、当該一対の物品は搬送手段40に移載することなく、物品Wを通過させて排出路50にそのまま排出する動作を行う。検知手段21において、左右何れかの物品Wの欠品が検出された場合にも同様の動作を行う。 In an irregular state in which a delay of a predetermined time or more is detected in any of the articles and the detection means 20 detects that the article W has not passed properly, the subsequent stage is The transfer means 30 performs an operation of passing the article W and discharging the pair of articles as is into the discharge path 50 without transferring them to the conveyance means 40 . The same operation is performed when the detecting means 21 detects that either the right or left article W is out of stock.
そして、物品の何れにも所定時間以上の遅れが検出されず、検知手段20が、物品Wが適切に通過したことを検知した正規状態においては、制御部80の指示に基づき、後段の移載手段30により、当該一対の物品は搬送手段40に移載する動作を行う。 In a normal state in which no delay of more than a predetermined time is detected for any of the articles and the detection means 20 detects that the article W has passed properly, the transfer is carried out at the subsequent stage based on instructions from the control unit 80. The means 30 performs an operation of transferring the pair of articles to the conveying means 40.
(移載手段30による移載又は排出動作)
主ロータ37は、ステータ38に配されたモータ39によって、主軸30Axの回りを半時計方向(図1、図2、におけるR1)に駆動回転されることで、吸着ユニット34(1)~(6)を主軸30Aを軸として公転させる。
(Transfer or discharge operation by transfer means 30)
The main rotor 37 is rotated counterclockwise (R1 in FIGS. 1 and 2) around the main shaft 30Ax by a motor 39 disposed on the stator 38, so that the suction units 34(1) to (6) ) is caused to revolve around the main axis 30A.
このとき、吸着ユニット34(1)~(6)それぞれは、反時計方向に自転(図1、図2、におけるR2)するように構成されており、その結果、、吸着ユニット34(1)~(6)、およびそれらそれぞれに接続される吸着ヘッド36(1)~(6)は、X-X平面方向の向きを一定に保った状態で、主軸30Axのりを回転(公転)する。 At this time, each of the suction units 34(1) to (6) is configured to rotate counterclockwise (R2 in FIGS. 1 and 2), and as a result, the suction units 34(1) to (6) and the suction heads 36(1) to (6) connected to each of them rotate (revolution) about the main shaft 30Ax while keeping the orientation in the XX plane constant.
吸着ユニット34(1)~(6)のカムフォロア346aがステータ38の外周面に設けられたカム溝38aに沿っては軸方向に往復移動して、吸着ヘッド36を上下に移動させ、主ロータ37の回転角度θが、上述した0度と90度付近において、吸着ヘッド36が物品Wを吸引可能な高さLまで下降し、その前後では物品Wの移載に必要な高さHに上昇する動作を行う。 The cam followers 346a of the suction units 34(1) to (6) reciprocate in the axial direction along the cam grooves 38a provided on the outer peripheral surface of the stator 38, moving the suction head 36 up and down, and the main rotor 37 When the rotation angle θ is around 0 degrees and 90 degrees mentioned above, the suction head 36 descends to a height L at which it can suction the article W, and before and after that, it rises to a height H necessary for transferring the article W. perform an action.
並行して、主ロータ37とステータ38からなる回転バルブ機構をより、吸着ヘッド36による物品Wの移載作が制御される。 In parallel, the transfer operation of the article W by the suction head 36 is controlled by a rotary valve mechanism consisting of a main rotor 37 and a stator 38.
具体的には、主ロータ37の回転に伴って、回転出口孔37aが角度範囲θ1に存在する場合に、電磁弁27が閉じている場合には、吸着ヘッド36により搬送手段10上の物品Wが吸着保持し、回転出口孔37aが角度範囲θ2に達した場合には、吸着ヘッド36により物品Wの吸着保持が維持され、さらに、回転して角度範囲θ3に到達したときに、吸着ヘッド36による物品Wの吸着保持が解除され搬送手段40上に移載する動作が行われる。 Specifically, as the main rotor 37 rotates, when the rotation outlet hole 37a exists in the angular range θ1 and the electromagnetic valve 27 is closed, the suction head 36 removes the article W on the conveying means 10. When the article W is suction-held and the rotating exit hole 37a reaches the angle range θ2, the suction head 36 maintains the suction-holding of the article W, and further, when the article W rotates and reaches the angle range θ3, the suction head 36 The suction and holding of the article W is released, and the operation of transferring it onto the conveyance means 40 is performed.
同時に、検知手段20による物品通過検知結果に基づいて、電磁弁27の動作状態を変更することにより、物品Wを搬送手段10から取得して搬送手段40に移載する移載動作と、移載操作を行わず物品Wを通過させて、搬送手段10から排出路50に排出される動作を選択的に行う動作を行う。 At the same time, by changing the operating state of the electromagnetic valve 27 based on the detection result of the article passage by the detection means 20, a transfer operation of acquiring the article W from the conveyance means 10 and transferring it to the conveyance means 40 and a transfer operation are performed. An operation is performed in which the article W is passed through without any operation and is selectively discharged from the conveying means 10 to the discharge path 50.
具体的には、物品移載装置1により、検知手段20が、物品Wが適切に通過したことを検知した正規状態においては、吸着ヘッド36の回転角度θ1であるときにおいて、電磁弁27が閉じて吸着ヘッド36に負圧P1を付勢することにより、当該物品Wに対し移載手段30は搬送手段10から当該物品を取得して搬送手段40に移載する動作を行う。 Specifically, in a normal state in which the detection means 20 detects that the article W has properly passed through the article transfer device 1, the electromagnetic valve 27 closes when the suction head 36 has a rotation angle θ1. By applying negative pressure P1 to the suction head 36, the transfer means 30 performs an operation to acquire the article W from the conveyance means 10 and transfer it to the conveyance means 40.
他方、検知手段20が、物品Wが適切に通過しなかったことを検知した非正規状態においては、移載手段30は、吸着ヘッド36の回転角度θ1であるときにおいて、電磁弁27を開いて吸着ヘッド36に負圧P1を付勢せず、当該物品Wを搬送手段10から搬送手段40に移載する動作は行わず、当該物品Wをそのまま通過させて、搬送手段10から排出路50に排出される動作を行う。 On the other hand, in an irregular state in which the detection means 20 detects that the article W has not passed properly, the transfer means 30 opens the solenoid valve 27 when the suction head 36 has a rotation angle θ1. The suction head 36 is not energized with negative pressure P1, the article W is not transferred from the conveyance means 10 to the conveyance means 40, and the article W is passed through as it is from the conveyance means 10 to the discharge path 50. Perform the action of being ejected.
<まとめ>
以上、説明したように、実施の形態に係る物品移載装置1は、物品Wを移載する物品移載装置であって、物品Wを搬送する搬送手段10と、搬送手段10上の所定の位置における物品Wの通過を検知可能な検知手段20と、搬送手段10の後段に配された搬送手段40と、搬送手段10の後段、かつ、搬送手段40の前段に配され、物品Wを搬送手段10から搬送手段40に移載可能な移載手段30と、搬送手段10の後段に配された排出路50とを備え、検知手段20が、物品Wが適切に通過したことを検知した正規状態においては、移載手段30は搬送手段10から当該物品Wを取得して搬送手段40に移載し、検知手段20が、物品Wが適切に通過しなかったことを検知した非正規状態においては、移載手段30は搬送手段10から当該物品Wを取得して搬送手段40に移載せず、当該物品Wは搬送手段10から排出路50に排出されることを特徴とする。
<Summary>
As described above, the article transfer device 1 according to the embodiment is an article transfer device that transfers the article W, and includes a conveying means 10 for conveying the article W, and a predetermined position on the conveying means 10. A detection means 20 capable of detecting passage of the article W at a position, a conveyance means 40 disposed after the conveyance means 10, and a conveyance means 40 disposed after the conveyance means 10 and before the conveyance means 40, which convey the article W. It includes a transfer means 30 that can be transferred from the means 10 to the conveyance means 40, and a discharge path 50 arranged at the rear stage of the conveyance means 10, and the detection means 20 detects that the article W has passed properly. In the irregular state, the transfer means 30 acquires the article W from the conveyance means 10 and transfers it to the conveyance means 40, and the detection means 20 detects that the article W has not passed properly. is characterized in that the transfer means 30 does not acquire the article W from the conveyance means 10 and transfer it to the conveyance means 40, but the article W is discharged from the conveyance means 10 to the discharge path 50.
従来の物品移載装置では、前段の供給工程において、コンベアの一部を傾けてピッチ不良の商品を工程外に排出するか、エアブローを用いて工程外に吹き飛ばして排出するといった排出方法が採られていたが、エアブローを用いた排出方法では、正確に商品を排出できない場合があり、また、排出される商品そのものに損傷を与えてしまうといった課題があった。 In conventional article transfer equipment, in the first stage of the supply process, a part of the conveyor is tilted to discharge products with poor pitch to the outside of the process, or an air blower is used to blow the products out of the process. However, the ejection method using air blowing has the problem that the products may not be ejected accurately, and the ejected products themselves may be damaged.
また、コンベアの一部を傾斜する排出方法では、流量が多く搬送速度が速い場合には、搬送周期が短く排出自体行うことが困難になるという課題があった。 Further, in the discharge method in which a part of the conveyor is inclined, when the flow rate is large and the conveyance speed is high, the conveyance period is short and it becomes difficult to perform the discharge itself.
これに対し、実施の形態に係る物品移載装置1では、移載装置の上流の搬送時に工程外排出するのではなく、ピッチ不良が検出された物品Wを移載手段30で移載せずにそのまま通過させるという構成を実現した。 In contrast, in the article transfer device 1 according to the embodiment, instead of discharging the article W from the process during conveyance upstream of the transfer device, the article W in which a pitch defect has been detected is not transferred by the transfer means 30. We achieved a configuration that allows the light to pass through as is.
これにより、搬送手段から別の搬送手段に物品Wを移載する際に、物品Wを選択的に除外することが可能な物品移載装置及び物品移載方法を提供することができる。 Thereby, it is possible to provide an article transfer device and an article transfer method that can selectively exclude the article W when transferring the article W from one conveyance means to another conveyance means.
また、別の態様では、上記何れかに記載の態様において、移載手段30は、主軸30Axの周りを回転可能な回転部材37と、回転部材37に配され、回転部材37の回転に伴って主軸30Axの周りを回転するとともに、主軸30Axに平行な中心軸34Axの周りを自転することにより、回転に伴って主軸30Axに垂直な面内の向きが変化しないように構成された吸着ヘッド36と、吸着ヘッド36に負圧P1を付勢可能な真空排気装置60と、回転部材37の主軸30Axの周りの回転角度に基づき、吸着ヘッド36への負圧P1の付勢及び解除を制御可能であって、回転部材37の主軸30Axの周りの回転角度が、吸着ヘッド36が搬送手段10の上方に位置する第1の角度θ1であるときに吸着ヘッド36に負圧P1又は解除を選択可能であり、吸着ヘッド36が搬送手段40の上方に位置する第2の角度θ3であるときに吸着ヘッド36に負圧P1の解除が可能であり、第1の角度θ1と第2の角度θ3との間の第3の角度θ3であるときに吸着ヘッド36に負圧P1の付勢が可能な、回転バルブ機構37、38とを備え、回転バルブ機構37、38は、回転部材37の主軸30Axの周りの回転角度が第1の角度θ1であるときに、正規状態では吸着ヘッド36に負圧P1が付勢し、非正規状態では吸着ヘッド36に負圧P1を付勢しない構成としてもよい。 In another aspect, in any of the aspects described above, the transfer means 30 is disposed on the rotating member 37 and the rotating member 37 that can rotate around the main axis 30Ax, and the transferring means 30 is arranged on the rotating member 37, and A suction head 36 configured to rotate around a main axis 30Ax and also rotate around a central axis 34Ax parallel to the main axis 30Ax so that its direction in a plane perpendicular to the main axis 30Ax does not change with rotation. , a vacuum evacuation device 60 capable of applying negative pressure P1 to the suction head 36, and the application and release of negative pressure P1 to the suction head 36 can be controlled based on the rotation angle of the rotating member 37 around the main axis 30Ax. Therefore, when the rotation angle of the rotating member 37 around the main axis 30Ax is the first angle θ1 at which the suction head 36 is located above the conveying means 10, it is possible to select negative pressure P1 or release for the suction head 36. The negative pressure P1 can be released to the suction head 36 when the suction head 36 is located at the second angle θ3 above the conveyance means 40, and the first angle θ1 and the second angle θ3 are The rotary valve mechanisms 37 and 38 are equipped with rotary valve mechanisms 37 and 38 that are capable of applying negative pressure P1 to the suction head 36 when the third angle θ3 between When the surrounding rotation angle is the first angle θ1, a configuration may be adopted in which negative pressure P1 is applied to the suction head 36 in a normal state, and negative pressure P1 is not applied to the suction head 36 in an irregular state.
係る構成により、物品移載装置1に物品W吸引時における真空破壊が可能な、回転バルブ機構37、38を用いた構成により、搬送手段10から別の搬送手段40に物品Wを移載する際に、物品Wを選択的に除外することが可能な物品移載装置及び物品移載方法を具体的に実現できる。 With this configuration, the rotary valve mechanisms 37 and 38 that are capable of breaking the vacuum when suctioning the article W in the article transfer device 1 are used. Furthermore, it is possible to concretely realize an article transfer device and an article transfer method that can selectively exclude articles W.
また、別の態様では、上記何れかに記載の態様において、さらに、吸着ヘッド36に陽圧を付勢可能な真空破壊手段70を備え、回転バルブ機構37、38は、回転部材37の主軸30Axの周りの回転角度が第1の角度θ1であるときに、正規状態では吸着ヘッド36に負圧P1を付勢し、非正規状態では吸着ヘッド36に負圧P1及び陽圧を付勢し、回転部材37の主軸30Axの周りの回転角度が第2の角度θ3であるときに吸着ヘッド36に負圧P1及び陽圧を付勢し、回転部材37の主軸30Axの周りの回転角度が第3の角度θ3であるときに吸着ヘッド36に負圧P1を付勢する構成としてもよい。 In another aspect, in any of the aspects described above, the suction head 36 is further provided with a vacuum breaking means 70 capable of applying positive pressure, and the rotary valve mechanisms 37 and 38 When the rotation angle around is a first angle θ1, in a normal state, a negative pressure P1 is applied to the suction head 36, and in an irregular state, a negative pressure P1 and a positive pressure are applied to the suction head 36, When the rotation angle of the rotating member 37 around the main axis 30Ax is the second angle θ3, negative pressure P1 and positive pressure are applied to the suction head 36, and the rotation angle of the rotating member 37 around the main axis 30Ax is the third angle. A configuration may be adopted in which the negative pressure P1 is applied to the suction head 36 when the angle θ3 is.
係る構成により、搬送手段から別の搬送手段に物品を移載する際に、物品Wを選択的に除外することが可能な回転バルブ機構を具体的に実現できる。 With such a configuration, it is possible to concretely realize a rotary valve mechanism that can selectively exclude the article W when transferring the article from one conveyance means to another conveyance means.
≪変形例≫
実施の形態に係る物品移載装置を説明したが、本開示は、その本質的な特徴的構成要素を除き、以上の実施の形態に何ら限定を受けるものではない。例えば、実施の形態に対して当業者が思いつく各種変形を施して得られる形態や、本発明の趣旨を逸脱しない範囲で各実施の形態における構成要素及び機能を任意に組み合わせることで実現される形態も本開示に含まれる。以下では、そのような形態の一例として変形例を説明する。
≪Modification example≫
Although the article transfer device according to the embodiment has been described, the present disclosure is not limited to the above embodiment except for its essential characteristic components. For example, a form obtained by making various modifications to the embodiments that a person skilled in the art would think of, or a form realized by arbitrarily combining the constituent elements and functions of each embodiment without departing from the spirit of the present invention. are also included in this disclosure. A modified example will be described below as an example of such a form.
上記実施の形態に係る物品移載装置1では、搬送手段10では、複数の物品Wが並列に搬送され、移載手段30は、並列に搬送される複数の物品Wを搬送手段40の搬送方向に対し直列に変換して搬送手段40に移載し、搬送手段40では、複数の物品Wが直列に搬送される構成とした。 In the article transfer device 1 according to the embodiment described above, the plurality of articles W are conveyed in parallel in the conveyance means 10, and the transfer means 30 transports the plurality of articles W conveyed in parallel in the conveyance direction of the conveyance means 40. The articles W are converted into series and transferred to the conveyance means 40, and the conveyance means 40 has a configuration in which a plurality of articles W are conveyed in series.
しかしながら、搬送手段10、40における物品Wの搬送形態は製造される商品の形態や梱包形態に合わせて適宜変更してもよい。例えば、搬送手段10では、物品Wが直列に搬送される構成であり、移載手段30は、直列に搬送される物品Wを搬送手段40の搬送方向に対し並列に変換する、あるいは、直列の状態を維持して搬送手段40に移載する構成としてもよい。 However, the manner in which the articles W are conveyed in the conveying means 10 and 40 may be changed as appropriate depending on the form and packaging form of the product to be manufactured. For example, the conveying means 10 has a configuration in which the articles W are conveyed in series, and the transfer means 30 converts the articles W conveyed in series into parallel to the conveying direction of the conveying means 40, or A configuration may be adopted in which the state is maintained and transferred to the transport means 40.
上記実施の形態に係る物品移載装置1では、物品Wは長尺状であり、搬送手段10では、物品Wは長尺方向に平行に搬送され、移載手段30は、長尺方向に平行に搬送される物品Wを搬送方向と長尺方向とが垂直になるように変換して搬送手段40に移載し、搬送手段40では、物品Wは長尺方向と垂直に搬送される構成とした。 In the article transfer device 1 according to the embodiment described above, the article W is elongated, and the conveyance means 10 conveys the article W parallel to the longitudinal direction, and the transfer means 30 conveys the article W parallel to the longitudinal direction. The article W to be conveyed is converted so that the conveyance direction and the longitudinal direction are perpendicular to each other and transferred to the conveying means 40, and the article W is conveyed perpendicularly to the longitudinal direction in the conveying means 40. did.
しかしながら、搬送手段10、40における物品Wの搬送形態は製造される商品の形態や梱包形態に合わせて適宜変更してもよい。例えば、搬送手段10では、物品Wは長尺方向と垂直な方向に搬送され、移載手段30は、長尺方向に垂直に搬送される物品Wを搬送方向と長尺方向とが平行になるように変換して、あるいは、長尺方向と搬送方向とが垂直な状態を維持して搬送手段40に移載する構成としてもよい。 However, the manner in which the articles W are conveyed in the conveying means 10 and 40 may be changed as appropriate depending on the form and packaging form of the product to be manufactured. For example, in the conveying means 10, the article W is conveyed in a direction perpendicular to the longitudinal direction, and in the transfer means 30, the article W conveyed perpendicularly to the longitudinal direction, so that the conveying direction and the longitudinal direction are parallel to each other. Alternatively, the structure may be such that the longitudinal direction and the transport direction are maintained perpendicular to each other and transferred to the transport means 40.
上記実施の形態に係る物品移載装置1では、供給される商品の搬送周期の不良や、並列搬送における位相ずれ、商品の欠品等の供給側のピッチ不良が生じると、検知手段20が、物品Wが適切に通過しなかったことを検知して、工程外に排出する構成とした。 In the article transfer device 1 according to the embodiment described above, when a pitch defect on the supply side such as a defect in the conveyance cycle of the supplied article, a phase shift in parallel conveyance, or a shortage of articles occurs, the detection means 20 It is configured to detect that the article W has not passed through properly and to discharge it out of the process.
しかしながら、ピッチ不良以外に、検知手段20により、物品Wの形状や色、異種混合生産における物品の成否等を検知して、物品Wが適切に通過しなかったことを検知して工程外に排出する構成としてもよい。 However, in addition to pitch defects, the detection means 20 detects the shape and color of the article W, the success or failure of the article in mixed production, and detects that the article W has not passed properly and is discharged from the process. It is also possible to have a configuration in which
≪補足≫
以上で説明した実施の形態は、いずれも本発明の好ましい一具体例を示すものである。実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置及び接続形態、工程、工程の順序などは一例であり、本発明を限定する主旨ではない。また、実施の形態における構成要素のうち、本発明の最上位概念を示す独立請求項に記載されていないものについては、より好ましい形態を構成する任意の構成要素として説明される。
≪Supplement≫
All of the embodiments described above are preferred specific examples of the present invention. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the embodiments are merely examples, and do not limit the present invention. Further, among the constituent elements in the embodiments, those not described in the independent claims representing the most important concept of the present invention will be explained as arbitrary constituent elements constituting a more preferable embodiment.
また、上記の方法が実行される順序は、本発明を具体的に説明するために例示するためのものであり、上記以外の順序であってもよい。また、上記方法の一部が、他の方法と同時(並列)に実行されてもよい。 Further, the order in which the above method is executed is merely an example for specifically explaining the present invention, and an order other than the above may be used. Further, some of the above methods may be executed simultaneously (in parallel) with other methods.
また、発明の理解の容易のため、上記各実施の形態で挙げた各図の構成要素の縮尺は実際のものと異なる場合がある。また本発明は上記各実施の形態の記載によって限定される
ものではなく、本発明の要旨を逸脱しない範囲において適宜変更可能である。
Further, in order to facilitate understanding of the invention, the scales of the constituent elements in each of the figures mentioned in each of the above embodiments may differ from the actual scale. Further, the present invention is not limited to the description of each embodiment described above, and can be modified as appropriate without departing from the gist of the present invention.
また、各実施の形態及びその変形例の機能のうち少なくとも一部を組み合わせてもよい。 Furthermore, at least some of the functions of the embodiments and their modifications may be combined.
本開示の一態様に係る物品移載装置は、各種包装体により包装された、例えば、飲料、食品、調味料、化粧品、洗剤等を集積して箱詰するための物品移載装置として好適に利用可能である。また、製造ライン等において、食品、製品、部品、工作物、包装、各種容器等の物品を箱詰する際の物品集積装置にも利用可能である。 The article transfer device according to one aspect of the present disclosure is suitable as an article transfer device for collecting and boxing, for example, beverages, foods, seasonings, cosmetics, detergents, etc., packaged in various packaging bodies. Available. It can also be used as an article accumulating device for packaging articles such as foods, products, parts, workpieces, packaging, and various containers on a manufacturing line or the like.
1 物品移載装置
10 搬送手段(第1の搬送手段)
11(1)~(5)、16 コンベア
12(1)~(5)、162 ローラ
13(1)~(5)、163 ベルト
20 検知手段
21 検知手段
22 検知手段
30 移載手段
31 フレーム
31a 基盤
32 固定軸
33 上部回転板
33a 軸受け
34(1)~(6) 吸着ユニット
341(1)~(6) 軸受け
342(1)~(6) プーリー
343 エンドレスベルト
344 従動プーリー
345 シャフト
346 シリンダ
346a カムフォロア
347(1)~(6) 気室
348 固定プーリー
349 従動プーリー
35(1)~(6) 接続チューブ
36(1)~(6) 吸着ヘッド
361 吸着孔
37 主ロータ
37a 回転出口孔
37b 菅路
38 ステータ
38a カム溝
381 固定バルブ気室
381a 圧力供給孔
382 固定バルブ気室
382a 入力孔
383 固定バルブ気室
383a 入力孔
39 モータ
40 搬送手段(第2の搬送手段)
41 ベルト
42 ローラ
50 排出路
60 真空排気装置
61 真空配管
70 真空破壊手段
71 破壊エア配管
72 電磁弁
80 制御部
W 物品
W0 胴部
W1 エンドシール部
1 Article transfer device 10 Conveyance means (first conveyance means)
11 (1) to (5), 16 Conveyor 12 (1) to (5), 162 Roller 13 (1) to (5), 163 Belt 20 Detection means 21 Detection means 22 Detection means 30 Transfer means 31 Frame
31a Base 32 Fixed shaft 33 Upper rotating plate
33a Bearing 34 (1) to (6) Adsorption unit
341(1)-(6) Bearing
342 (1) ~ (6) Pulley
343 Endless belt
344 Driven pulley
345 shaft
346 cylinder
346a cam follower
347(1)-(6) Air chamber
348 Fixed pulley
349 Driven pulley 35 (1) to (6) Connection tube 36 (1) to (6) Suction head
361 Suction hole 37 Main rotor
37a Rotating outlet hole
37b Kanji 38 Stator
38a cam groove
381 Fixed valve air chamber
381a Pressure supply hole
382 Fixed valve air chamber
382a input hole
383 Fixed valve air chamber
383a input hole 39 motor 40 conveyance means (second conveyance means)
41 Belt 42 Roller 50 Discharge path 60 Vacuum exhaust device 61 Vacuum piping 70 Vacuum breaking means 71 Breaking air piping 72 Solenoid valve 80 Control part W Article W0 Body part W1 End seal part
Claims (5)
物品を搬送する第1の搬送手段と、
前記第1の搬送手段上の所定の位置における物品の通過を検知可能な検知手段と、
前記第1の搬送手段の後段に配された第2の搬送手段と、
前記第1の搬送手段の後段、かつ、前記第2の搬送手段の前段に配され、物品を前記第1の搬送手段から前記第2の搬送手段に移載可能な移載手段と、
前記第1の搬送手段の後段に配された排出路と、を備え、
前記検知手段が、物品が適切に通過したことを検知した正規状態においては、前記移載手段は前記第1の搬送手段から当該物品を取得して前記第2の搬送手段に移載し、
前記検知手段が、物品が適切に通過しなかったことを検知した非正規状態においては、前記移載手段は前記第1の搬送手段から当該物品を取得して前記第2の搬送手段に移載せず、当該物品は前記第1の搬送手段から前記排出路に排出される
物品移載装置。 An article transfer device for transferring articles,
a first conveyance means for conveying the article;
a detection means capable of detecting passage of an article at a predetermined position on the first conveyance means;
a second conveying means arranged after the first conveying means;
a transfer means arranged after the first conveyance means and before the second conveyance means and capable of transferring articles from the first conveyance means to the second conveyance means;
a discharge path disposed downstream of the first conveyance means;
In a normal state in which the detection means detects that the article has passed properly, the transfer means acquires the article from the first conveyance means and transfers it to the second conveyance means,
In an irregular state in which the detection means detects that the article has not passed properly, the transfer means acquires the article from the first conveyance means and transfers it to the second conveyance means. First, the article transfer device is such that the article is discharged from the first conveyance means to the discharge path.
第1の軸の周りを回転可能な回転部材と、
前記回転部材に配され、前記回転部材の回転に伴って前記第1の軸の周りを回転するとともに、前記第1の軸に平行な第2の軸の周りを自転することにより、前記回転に伴って前記第1の軸に垂直な面内の向きが変化しないように構成された吸着ヘッドと、
前記吸着ヘッドに負圧を付勢可能な真空排気装置と、
前記回転部材の前記第1の軸の周りの回転角度に基づき、前記吸着ヘッドへの負圧の付勢及び解除を制御可能であって、前記回転部材の前記第1の軸の周りの回転角度が、前記吸着ヘッドが前記第1の搬送手段の上方に位置する第1の角度であるときに前記吸着ヘッドに負圧又は解除を選択可能であり、前記吸着ヘッドが前記第2の搬送手段の上方に位置する第2の角度であるときに前記吸着ヘッドに負圧の解除が可能であり、前記第1の角度と前記第2の角度との間の第3の角度であるときに前記吸着ヘッドに負圧の付勢が可能な、回転バルブ機構とを備え、
前記回転バルブ機構は、前記回転角度が前記第1の角度であるときに、前記正規状態では前記吸着ヘッドに負圧が付勢し、前記非正規状態では前記吸着ヘッドに負圧を付勢しない
請求項1に記載の物品移載装置。 The transfer means is
a rotating member rotatable around a first axis;
The rotating member is arranged on the rotating member and rotates around the first axis as the rotating member rotates, and also rotates around a second axis that is parallel to the first axis. Accordingly, a suction head configured such that its orientation in a plane perpendicular to the first axis does not change;
a vacuum evacuation device capable of applying negative pressure to the suction head;
energization and release of negative pressure to the suction head can be controlled based on a rotation angle of the rotation member around the first axis, the rotation angle of the rotation member around the first axis; However, when the suction head is located at a first angle above the first conveyance means, it is possible to select negative pressure or release for the suction head, and when the suction head is located above the second conveyance means, it is possible to select negative pressure or release. Negative pressure can be released to the suction head when the second angle is located above, and when the suction head is at a third angle between the first angle and the second angle, the suction head can be released from negative pressure. Equipped with a rotary valve mechanism that can apply negative pressure to the head.
The rotary valve mechanism applies negative pressure to the suction head in the normal state and does not apply negative pressure to the suction head in the irregular state when the rotation angle is the first angle. The article transfer device according to claim 1.
前記回転バルブ機構は、
前記回転角度が前記第1の角度であるときに、前記正規状態では前記吸着ヘッドに負圧を付勢し、前記非正規状態では前記吸着ヘッドに負圧及び陽圧を付勢し、
前記回転角度が前記第2の角度であるときに前記吸着ヘッドに負圧及び陽圧を付勢し、
前記回転角度が前記第3の角度であるときに前記吸着ヘッドに負圧を付勢する
請求項2に記載の物品移載装置。 Further, a vacuum breaking means capable of applying positive pressure to the suction head is provided,
The rotary valve mechanism is
When the rotation angle is the first angle, negative pressure is applied to the suction head in the normal state, and negative pressure and positive pressure are applied to the suction head in the irregular state,
applying negative pressure and positive pressure to the suction head when the rotation angle is the second angle;
The article transfer device according to claim 2, wherein negative pressure is applied to the suction head when the rotation angle is the third angle.
前記移載手段は、並列に搬送される複数の物品を同時に吸着保持し、吸着保持した複数の物品を前記第2の搬送手段の搬送方向に対し直列に変換して前記第2の搬送手段に移載し、
前記第2の搬送手段では、複数の物品が直列に搬送される
請求項2又は3に記載の物品移載装置。 In the first conveyance means, a plurality of articles are conveyed in parallel,
The transfer means simultaneously suction-holds a plurality of articles conveyed in parallel, converts the suction-held plurality of articles into series with respect to the conveyance direction of the second conveyance means, and transfers them to the second conveyance means. Transferred,
The article transfer device according to claim 2 or 3, wherein the second conveyance means conveys a plurality of articles in series.
前記第1の搬送手段では、前記物品は長尺方向に平行に搬送され、
前記移載手段は、長尺方向に平行に搬送される物品を吸着保持し、吸着保持した物品を搬送方向と長尺方向とが垂直になるように変換して前記第2の搬送手段に移載し、
前記第2の搬送手段では、前記物品は長尺方向と垂直に搬送される
請求項2から4の何れか1項に記載の物品移載装置。 The article is elongated,
In the first conveying means, the article is conveyed in parallel to the longitudinal direction,
The transfer means suction-holds the article being conveyed parallel to the longitudinal direction, converts the suction-held article so that the conveyance direction and the longitudinal direction are perpendicular, and transfers the article to the second conveyance means. Posted,
The article transfer device according to any one of claims 2 to 4, wherein in the second conveyance means, the article is conveyed perpendicularly to the longitudinal direction.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022057564A JP2023149150A (en) | 2022-03-30 | 2022-03-30 | Article transfer device and article transfer method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2022057564A JP2023149150A (en) | 2022-03-30 | 2022-03-30 | Article transfer device and article transfer method |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2023149150A true JP2023149150A (en) | 2023-10-13 |
Family
ID=88288067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022057564A Pending JP2023149150A (en) | 2022-03-30 | 2022-03-30 | Article transfer device and article transfer method |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP2023149150A (en) |
-
2022
- 2022-03-30 JP JP2022057564A patent/JP2023149150A/en active Pending
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4409429B2 (en) | Capsule filling and sealing device | |
JP7007104B2 (en) | Transport method | |
JP5237097B2 (en) | Conveying device and boxing device provided with the same | |
US8511458B2 (en) | Method and apparatus for supplying bags to a packaging machine | |
JPH09301310A (en) | Boxing device | |
JP2015051782A (en) | Packing system | |
JP2011213412A (en) | Container transporting apparatus | |
JP2009208963A (en) | Conveyor reversing device, and inspection device using the same | |
KR101793588B1 (en) | Automatic packaging system having reversing apparatus of packing receptacle | |
JP4883510B2 (en) | Conveyor reversing device and inspection device using the same | |
KR20180068858A (en) | Container transporting apparatus | |
JP2023149150A (en) | Article transfer device and article transfer method | |
JP6257749B2 (en) | Transport system and transported product inspection system | |
JP7465730B2 (en) | Transfer device | |
JP2007315794A (en) | Inspection device of molding container, and inspection method of the molding container | |
JP2004117135A (en) | Device and method for detecting leakage | |
JP2001088207A (en) | Apparatus for inspecting hollow molded article | |
JP2008013227A (en) | Transfer device and boxing apparatus equipped with the same | |
JPH05139422A (en) | Article feeding device | |
JP4319608B2 (en) | Container removal supply device | |
JP2020066496A (en) | Carrying device | |
JP7488125B2 (en) | Delivery device | |
JP7481945B2 (en) | Item conveying device | |
JP7453860B2 (en) | transfer device | |
JP2007501170A (en) | Apparatus and method for laterally sealing a packaging tube |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20220906 |