JP5802932B1 - Container filling method - Google Patents

Container filling method Download PDF

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JP5802932B1
JP5802932B1 JP2014074685A JP2014074685A JP5802932B1 JP 5802932 B1 JP5802932 B1 JP 5802932B1 JP 2014074685 A JP2014074685 A JP 2014074685A JP 2014074685 A JP2014074685 A JP 2014074685A JP 5802932 B1 JP5802932 B1 JP 5802932B1
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container
packaging
packaging container
holding
holding position
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JP2015196522A (en
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南部　邦男
南部　　邦男
木下　久廣
久廣 木下
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NABEL CO.,LTD.
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Abstract

【課題】物品の集成容器への充填を安全かつ容易に行うこと。【解決手段】容器充填方法は、支持部材上の保持位置に整列された複数の包装容器を上方から保持し、前記保持位置の下方に配置された集成容器に、保持された前記包装容器を充填する。前記容器充填方法は、前記包装容器を所定の整列関係で前記保持位置に配置する第１のステップと、前記第１のステップの後に、前記保持位置に配置された前記包装容器を上方から保持する第２のステップと、前記第２のステップの後に、前記包装容器の下方から前記支持部材を退避させる第３のステップと、前記第３のステップの後に、前記保持した包装容器を直下に下降させ前記集成容器に充填する第４のステップとを備え、 前記第１から第４のステップが複数回繰り返されることにより、所定数の前記包装容器が充填される。【選択図】図１０An object of the present invention is to safely and easily fill an assembly container with articles. A container filling method holds a plurality of packaging containers aligned at a holding position on a support member from above, and fills the assembled containers arranged below the holding position with the held packaging containers. To do. The container filling method includes a first step of arranging the packaging container in the holding position in a predetermined alignment relationship, and holding the packaging container arranged in the holding position from above after the first step. After the second step, after the second step, a third step for retracting the support member from below the packaging container, and after the third step, the held packaging container is lowered directly below. A fourth step of filling the assembly container, and a predetermined number of the packaging containers are filled by repeating the first to fourth steps a plurality of times. [Selection] Figure 10

Description

本発明は、物品を集成容器に充填する容器充填方法および容器充填装置に関し、より詳細には、卵パックのような包装容器を物品として集成容器への充填を安全かつ容易にする容器充填方法および容器充填装置に関する。   The present invention relates to a container filling method and a container filling apparatus for filling an assembly container with an article, and more particularly, a container filling method for safely and easily filling an assembly container using a packaging container such as an egg pack as an article, and The present invention relates to a container filling apparatus.

農畜産物、工業製品等に限らず、市場に流通する物品は、輸送、管理を容易にすべく、段ボール箱、プラスチックケース等の集成容器に充填されて集成される。集積容器への充填は、物品の特性に応じて、物品の向き、配置が予め定められているものがある。たとえば、卵のような農畜産物は、卵パックのような包装容器に方向を揃えられて収容され、包装容器は、上下方向が定められ、集積容器内に不要のスペースが形成されない効率のよい配置で充填される。   Articles distributed in the market, not limited to agricultural and livestock products, industrial products, etc., are packed and assembled in a collection container such as a cardboard box or plastic case in order to facilitate transportation and management. For the filling into the accumulation container, there are some in which the orientation and arrangement of the articles are predetermined according to the characteristics of the articles. For example, agricultural and livestock products such as eggs are accommodated in a packaging container such as an egg pack, and the packaging container is defined in the vertical direction, so that an unnecessary space is not formed in the accumulation container. Filled in place.

このような物品の充填は、一般に、機械化されており、充填装置により自動的に行われる。たとえば、卵パックの充填装置（梱包装置）として、特許文献１に記載の充填装置がある。この充填装置では、把持装置が、卵パックを把持（保持）した状態で集成容器の直上まで水平移動し、その後、集成容器に向けて下降し、卵パックを集成容器に充填する。   The filling of such articles is generally mechanized and performed automatically by a filling device. For example, there is a filling device described in Patent Document 1 as an egg pack filling device (packing device). In this filling device, the gripping device horizontally moves to the position immediately above the collecting container while gripping (holding) the egg pack, and then descends toward the collecting container to fill the egg pack into the collecting container.

特表２００７−５３２４２６号公報Special table 2007-532426

しかし、特許文献１に記載の充填装置では、卵パックが、把持装置に把持された状態で水平移動した後に下降されるため、充填作業が不安定な状態で行われていた。すなわち、特許文献１に記載の充填装置では、把持装置を改良することにより、卵パックが落下してしまう危険性を低減しているが、卵パックを水平移動させることによる移動中の危険を完全に取り去ることはできなかった。   However, in the filling apparatus described in Patent Document 1, the egg pack is lowered after moving horizontally in a state of being gripped by the gripping apparatus, so that the filling operation is performed in an unstable state. That is, in the filling device described in Patent Document 1, the risk of the egg pack falling is reduced by improving the gripping device, but the danger during movement by moving the egg pack horizontally is completely eliminated. Could not be removed.

本発明は、そのような問題を解決すべくなされたもので、その目的は、包装容器を安全かつ容易に集成容器へ充填することにある。   The present invention has been made to solve such a problem, and an object of the present invention is to fill the assembly container safely and easily into the assembly container.

本発明にかかる容器充填方法は、支持部材上の保持位置に整列された複数の包装容器を上方から保持し、前記保持位置の下方に配置され、上方に開放した集成容器に、保持された前記包装容器を充填する。前記容器充填方法は、前記包装容器を所定の整列関係で前記保持位置に配置する第１のステップと、前記第１のステップの後に、前記包装容器を上方から保持し、鉛直方向に移動させる保持手段によって、前記保持位置に配置された前記包装容器を上方から保持する第２のステップと、前記第２のステップの後に、前記包装容器の下方から前記支持部材を退避させる第３のステップと、前記第３のステップの後に、前記保持手段が前記保持した包装容器を直下に下降させ前記集成容器に充填する第４のステップとを備え、前記第１から第４のステップが複数回繰り返されることにより、所定数の前記包装容器が充填されることを前提とする。そして、本発明にかかる容器充填方法は、前記第１のステップが、前記保持位置とは異なる整列位置に所定の整列関係で前記包装容器を整列させる第５のステップと、前記整列位置に整列された前記包装容器を前記保持位置に移動させる第６のステップとを含み、前記第５のステップは、前記第２〜第４のステップおよび前記第６のステップの少なくともいずれか１つのステップに重複して行われ、前記第６のステップは、第５のステップで整列した包装容器を、整列した状態を維持して保持位置に移動させることを含み、前記第２のステップは、保持位置に移動した包装容器を、整列した状態を維持して保持することを含むことを特徴とする。
In the container filling method according to the present invention, a plurality of packaging containers arranged in a holding position on a support member are held from above, and are arranged in a lower side of the holding position and held in an assembly container opened upward. Fill the packaging container. The container filling method includes: a first step of placing the packaging container at the holding position in a predetermined alignment relationship; and a holding that holds the packaging container from above and moves in a vertical direction after the first step. A second step of holding the packaging container disposed at the holding position from above by means; and a third step of retracting the support member from below the packaging container after the second step; After the third step, the holding means includes a fourth step of lowering the held packaging container directly below and filling the assembly container, and the first to fourth steps are repeated a plurality of times. Assuming that a predetermined number of the packaging containers are filled. In the container filling method according to the present invention, the first step is aligned at the alignment position with a fifth step of aligning the packaging container at an alignment position different from the holding position in a predetermined alignment relationship. A sixth step of moving the packaging container to the holding position, wherein the fifth step overlaps at least one of the second to fourth steps and the sixth step. The sixth step includes moving the packaging container aligned in the fifth step to the holding position while maintaining the aligned state, and the second step is moved to the holding position. Including maintaining the packaging container in an aligned state.

この容器充填方法によれば、包装容器は、上方に開放した集成容器への充填に際して、集成容器の直上まで水平方向へ移動する必要がなく、保持手段に保持された状態のまま下降する。これにより、包装容器は、充填の際に集成容器の外へ落下することがない。 According to this container filling method, the packaging container does not need to move in the horizontal direction to the position immediately above the assembly container when filling the assembly container opened upward, and is lowered while being held by the holding means. Thereby, the packaging container does not fall out of the assembly container at the time of filling.

したがって、本発明にかかる容器充填方法によれば、安全、かつ容易に包装容器を集成容器に充填することができる。   Therefore, according to the container filling method of the present invention, the packaging container can be filled into the assembly container safely and easily.

また、本発明にかかる容器充填装置によれば、複数の包装容器を一組の包装容器として所定の整列位置に整列させる整列搬送手段と、前記整列位置に整列した一組の包装容器を保持位置に移動させる保持位置移動手段と、前記整列搬送手段に隣接した前記保持位置が規定され、前記包装容器を支持する支持部材と、前記保持位置の上方に配置され、前記保持位置に移動された前記包装容器を上方から保持し、保持した状態のまま鉛直方向に移動させる保持手段と、前記保持位置の下方に集積容器を配置する集成容器搬送手段と、前記支持部材を退避させる退避手段とを備える。 Further, according to the container filling device of the present invention, the alignment transport means for aligning a plurality of packaging containers as a set of packaging containers at a predetermined alignment position, and the holding position for the set of packaging containers aligned with the alignment position. The holding position moving means for moving to the position, the holding position adjacent to the alignment conveying means is defined, the support member for supporting the packaging container, and the holding position moving means disposed above the holding position and moved to the holding position. Holding means for holding the packaging container from above and moving it vertically while holding it, assembly container transport means for arranging the collecting container below the holding position, and retracting means for retracting the support member .

この容器充填装置によれば、包装容器は、集成容器への充填に際して、集成容器の直上まで水平方向へ移動する必要がなく、保持手段に保持された状態のまま下降する。これにより、包装容器は、充填の際に集成容器の外へ落下することがない。   According to this container filling device, the packaging container does not need to move in the horizontal direction to the position immediately above the assembly container when filling the assembly container, and descends while being held by the holding means. Thereby, the packaging container does not fall out of the assembly container at the time of filling.

したがって、本発明にかかる容器充填装置によれば、包装容器が、保持された状態で水平移動することがないため、安全、かつ容易に集成容器に充填することができる。   Therefore, according to the container filling apparatus according to the present invention, the packaging container does not move horizontally while being held, so that the assembly container can be filled safely and easily.

本発明は、物品を集成容器へ安全かつ容易に充填する。   The present invention safely and easily fills a collection container with articles.

包装容器としての卵パックの外観を示す斜視図である。It is a perspective view which shows the external appearance of the egg pack as a packaging container. 卵パックが充填された集成容器を示す側面図である。It is a side view which shows the assembly container with which the egg pack was filled. 所定の整列関係に整列された卵パックを示す平面図である。It is a top view which shows the egg pack arranged in the predetermined alignment relationship. 本発明の実施の形態にかかる容器充填装置の概観を示す斜視図である。It is a perspective view which shows the general appearance of the container filling apparatus concerning embodiment of this invention. 図４に示す容器充填装置を示す平面図である。It is a top view which shows the container filling apparatus shown in FIG. 図４に示す容器充填装置を示す正面図である。It is a front view which shows the container filling apparatus shown in FIG. 図４に示す容器充填装置を示す側面図である。It is a side view which shows the container filling apparatus shown in FIG. 図４に示す容器充填装置の搬送部において、卵パックが回転される状態を示す平面図である。It is a top view which shows the state in which the egg pack is rotated in the conveyance part of the container filling apparatus shown in FIG. 図４に示す容器充填装置の保持部において、卵パックが保持される状態を示す側面図である。It is a side view which shows the state by which the egg pack is hold | maintained in the holding | maintenance part of the container filling apparatus shown in FIG. 本発明の実施の形態にかかる容器充填方法を説明するためのフロー図である。It is a flowchart for demonstrating the container filling method concerning embodiment of this invention.

本発明の実施の形態にかかる容器充填装置について説明する。なお、以下の説明においては、図５（平面図）の左側を容器充填装置１００の「左側」、右側を容器充填装置１００の「右側」、上側を容器充填装置１００の「奥側」、下側を容器充填装置１００の「手前側」という。また、図６（正面図）の上側を容器充填装置１００の「上側」、下側を容器充填装置１００の「下側」という。したがって、たとえば、図７（側面図）の左側は容器充填装置１００の「手前側」、右側は容器充填装置１００の「奥側」、上側は容器充填装置１００の「上側」、下側は容器充填装置１００の「下側」となる。   A container filling apparatus according to an embodiment of the present invention will be described. In the following description, the left side of FIG. 5 (plan view) is the “left side” of the container filling apparatus 100, the right side is the “right side” of the container filling apparatus 100, and the upper side is the “back side” of the container filling apparatus 100. The side is referred to as the “front side” of the container filling device 100. Further, the upper side of FIG. 6 (front view) is referred to as “upper side” of the container filling apparatus 100 and the lower side is referred to as “lower side” of the container filling apparatus 100. Therefore, for example, the left side of FIG. 7 (side view) is the “front side” of the container filling apparatus 100, the right side is the “back side” of the container filling apparatus 100, the upper side is the “upper side” of the container filling apparatus 100, and the lower side is the container. This is the “lower side” of the filling device 100.

容器充填装置１００は、従来よく知られるように、卵パックのような包装容器Ｐを、段ボール箱のような集成容器Ｑに充填する。卵パックには複数の卵が収容、包装されており、複数の卵パックが段ボール箱に充填され、段ボールは、充填後に封緘されて流通する。以下の説明において、包装容器Ｐは卵パックを例として説明をする。しかし包装容器Ｐは、農産物、菓子を包装したような箱状、袋状の他の包装容器であってもよい。   As is well known in the art, the container filling apparatus 100 fills a collection container Q such as a cardboard box with a packaging container P such as an egg pack. A plurality of eggs are accommodated and packaged in the egg pack, the plurality of egg packs are filled in a cardboard box, and the cardboard is sealed and distributed after filling. In the following description, the packaging container P will be described using an egg pack as an example. However, the packaging container P may be other packaging containers such as a box shape and a bag shape in which agricultural products and confectionery are packaged.

［包装容器］ [Packaging container]

本実施の形態において、包装容器Ｐは、例えば図１に示すように、各列が５つの卵座２を有し、５つの卵座２が２列並んだ卵パックである。卵パックは、従来よく知られるように、本体５と蓋体６とからなり、卵を収容した後に、本体５に蓋体６が閉じられて、テープや熱融着により封緘される。包装容器Ｐは、１０個の卵座２を備え、封緘された状態で、２本の平行な長辺３と２本の平行な短辺４からなる平面矩形の形状を形成する。   In the present embodiment, the packaging container P is, for example, an egg pack in which each row has five egg seats 2 and two rows of five egg seats 2 are arranged as shown in FIG. As is well known in the art, the egg pack is composed of a main body 5 and a lid 6, and after the eggs are accommodated, the lid 6 is closed by the main body 5 and sealed by tape or heat fusion. The packaging container P is provided with ten egg seats 2 and, when sealed, forms a planar rectangular shape composed of two parallel long sides 3 and two parallel short sides 4.

卵パックの本体５は、卵座２として上方からの凹部を形成され、これは下方からの凸部となる。各卵座２の底部は、平坦面に形成されている。卵パックの蓋体６は、箱状に形成されており、平坦な頂面を有する。しかし、卵パックには、蓋体が、本体の卵座２に対応して下方からの凹部（上方からは凸部）に形成されることにより本体５の卵座２と共同して卵の外形に類似した収容部を形成し、卵を保持するものもある。そのような卵パックは、各収容部の上部が平坦面に形成されている。   The main body 5 of the egg pack is formed with a concave portion from above as the egg seat 2, which becomes a convex portion from below. The bottom of each egg seat 2 is formed on a flat surface. The lid 6 of the egg pack is formed in a box shape and has a flat top surface. However, in the egg pack, the outer shape of the egg is formed in cooperation with the egg seat 2 of the main body 5 by forming a lid in a concave portion from the lower side (a convex portion from the upper side) corresponding to the egg seat 2 of the main body. Some of them hold a similar egg to hold an egg. In such an egg pack, the upper part of each accommodating part is formed on a flat surface.

本実施の形態において、図２に示すように、包装容器Ｐは１つの集成容器Ｑに上下方向に４段に重ねられて充填される。各段の間には板状の敷居７が設けられている。しかし、敷居７を用いることなく包装容器Ｐを重ねてもよい。なお、以下の説明において、包装容器Ｐの段数は下方から数え、最下位の段が第１段目となる。   In the present embodiment, as shown in FIG. 2, the packaging container P is filled in one assembly container Q by being stacked in four stages in the vertical direction. A plate-like threshold 7 is provided between the steps. However, the packaging containers P may be stacked without using the threshold 7. In the following description, the number of levels of the packaging container P is counted from below, and the lowest level is the first level.

第１段目と第３段目には、図３（Ａ）に示すように、包装容器Ｐの長辺３を手前から奥方向（Ｘ方向）に沿わせて横姿勢に並べられた２つの包装容器Ｐ１（Ｐ１１）,Ｐ２（Ｐ１２）が左側に、長辺３を左右方向（Ｙ方向）に沿わせて縦姿勢に並べられた３つの包装容器Ｐ３（Ｐ１３）〜Ｐ５（Ｐ１５）が右側に配置された関係で整列している。   In the first and third stages, as shown in FIG. 3 (A), two long sides 3 of the packaging container P are arranged in a horizontal posture along the back direction (X direction) from the front. The packaging containers P1 (P11) and P2 (P12) are on the left side, and the three packaging containers P3 (P13) to P5 (P15) arranged in a vertical posture with the long side 3 along the left-right direction (Y direction) are on the right side. Aligned in the relationship placed in

また、第２段目と第４段目には、図３（Ｂ）に示すように、長辺３を左右方向（Ｙ方向）に沿わせて縦姿勢に並べられた３つの包装容器Ｐ６（Ｐ１６）〜Ｐ８（Ｐ１８）が左側に、包装容器Ｐの長辺３を手前奥方向（Ｘ方向）に沿わせて横姿勢に並べられた２つの包装容器Ｐ９（Ｐ１９），Ｐ１０（Ｐ２０）が右側に配置された関係で整列している。しかし、包装容器Ｐの整列関係は集積容器の大きさや、充填される包装容器Ｐの数量等により、種々の関係となる。   In the second and fourth stages, as shown in FIG. 3 (B), three packaging containers P6 (in which the long sides 3 are arranged vertically along the left-right direction (Y direction)) ( Two packaging containers P9 (P19) and P10 (P20) are arranged in a horizontal posture with P16) to P8 (P18) on the left side and the long side 3 of the packaging container P along the front and back direction (X direction). Aligned with the relationship placed on the right side. However, the alignment relationship of the packaging containers P varies depending on the size of the accumulation container, the number of packaging containers P to be filled, and the like.

［容器充填装置の構造］ [Construction of container filling device]

容器充填装置１００は、図４〜７に示すように、複数の包装容器Ｐを所定の整列関係で整列位置ｔに整列させる整列搬送手段１１０と、整列位置ｔに整列した複数の包装容器Ｐを保持位置ｕに移動させる保持位置移動手段１２０と、保持位置ｕに配置された包装容器Ｐを保持する保持手段１３０と、保持位置ｕに配置された包装容器Ｐを支持し、退避することで保持位置ｕの下方を展開する支持部材１４０と、支持部材１４０を退避させる退避手段１５０と、集成容器Ｑを保持位置ｕの下方に搬送する集成容器搬送手段１６０とを備える。   As shown in FIGS. 4 to 7, the container filling apparatus 100 includes an alignment transport unit 110 that aligns a plurality of packaging containers P at an alignment position t in a predetermined alignment relationship, and a plurality of packaging containers P aligned at the alignment position t. Holding position moving means 120 for moving to the holding position u, holding means 130 for holding the packaging container P arranged at the holding position u, and holding by retracting the packaging container P arranged at the holding position u A support member 140 that expands below the position u, a retracting means 150 that retracts the support member 140, and an assembly container transporting means 160 that transports the assembly container Q below the holding position u are provided.

整列搬送手段１１０は、包装容器Ｐを搬送する上流側（右側）から、単列搬送部１１１と、振分部１１２と、幅広搬送部１１３とを備える。単列搬送部１１１は、上流側から包装容器Ｐがその長辺３を搬送方向に沿わせた状態で１つずつ投入され、包装容器Ｐを単列で搬送する。振分部１１２は、単列搬送部１１１に連結しており、単列搬送部１１１から包装容器Ｐを受けて、幅広搬送部１１３の搬送路に対応する手前側、中央、奥側の３つの位置に包装容器Ｐを振り分ける。   The alignment transport unit 110 includes a single-row transport unit 111, a sorting unit 112, and a wide transport unit 113 from the upstream side (right side) that transports the packaging container P. In the single-row transport unit 111, the packaging containers P are loaded one by one from the upstream side with the long sides 3 along the transport direction, and transport the packaging containers P in a single row. The sorting unit 112 is connected to the single-row transport unit 111, receives the packaging container P from the single-row transport unit 111, and has three front, center, and back sides corresponding to the transport path of the wide transport unit 113. The packaging container P is distributed to the position.

幅広搬送部１１３は、包装容器Ｐの長辺３が搬送方向に沿った包装容器Ｐを略３個搬送できる搬送幅を有し、その終端に付近に、包装容器Ｐを整列させる整列位置ｔが規定されている。幅広搬送部１１３は、振分部１１２に連結しており、振分部１１２で振り分けられた包装容器Ｐを受けて、整列位置ｔに向けて移動させる。   The wide conveyance portion 113 has a conveyance width in which the long side 3 of the packaging container P can convey substantially three packaging containers P along the conveyance direction, and an alignment position t for aligning the packaging containers P is near the end thereof. It is prescribed. The wide conveyance unit 113 is connected to the sorting unit 112, receives the packaging containers P sorted by the sorting unit 112, and moves them toward the alignment position t.

幅広搬送部１１３は、さらに、幅広搬送部１１３の手前側を搬送される包装容器Ｐの向きを変更する回転機構１１４を備える。回転機構１１４は、包装容器Ｐの一部に当接する回転軸部材１１５を備え、図８に示すように、回転軸部材１１５を軸に包装容器Ｐを９０°回転させる。これにより、搬送方向に長軸を沿わせて搬送される包装容器Ｐは、長辺３を搬送幅方向に沿わせた状態に回転される。回転された包装容器Ｐは、幅広搬送部１１３の略中央を、回転されない包装容器Ｐと同様に、整列位置ｔに向けて搬送される。回転軸部材１１５は、回転させる包装容器Ｐの搬送に合わせて、適宜適応される。   The wide conveyance unit 113 further includes a rotation mechanism 114 that changes the direction of the packaging container P that is conveyed on the front side of the wide conveyance unit 113. The rotating mechanism 114 includes a rotating shaft member 115 that abuts a part of the packaging container P, and rotates the packaging container P by 90 ° about the rotating shaft member 115 as shown in FIG. Thereby, the packaging container P conveyed along a long axis in a conveyance direction is rotated in the state which made the long side 3 along the conveyance width direction. The rotated packaging container P is conveyed toward the alignment position t in the same manner as the packaging container P that is not rotated, in the approximate center of the wide conveyance unit 113. The rotating shaft member 115 is appropriately adapted according to the conveyance of the packaging container P to be rotated.

これにより、幅広搬送部１１３は、包装容器Ｐの長辺３を搬送方向に沿わせた縦姿勢で包装容器Ｐを搬送することに加え、包装容器Ｐの長辺３を搬送幅方向に沿わせた横姿勢で包装容器Ｐを搬送することができる。包装容器Ｐの姿勢は、包装容器Ｐの整列関係に応じて、適宜選択される。   Thereby, the wide conveyance part 113 makes the long side 3 of the packaging container P along the conveyance width direction in addition to conveying the packaging container P in the vertical posture with the long side 3 of the packaging container P along the conveyance direction. The packaging container P can be conveyed in the horizontal posture. The posture of the packaging container P is appropriately selected according to the alignment relationship of the packaging containers P.

整列搬送部１１０では、例えば、第１段目の整列関係を形成すべく、１つ目の包装容器Ｐ１、２つ目の包装容器Ｐ２が、振分部１１２にて手前側に振り分けられ、幅広搬送部１１３にて回転機構１１４により回転されて横姿勢で搬送される。さらに、３つ目の包装容器Ｐ３が手前側、４つ目の包装容器Ｐ４が中央、５つ目の包装容器Ｐ５が奥側の順に振り分けられて縦姿勢のまま搬送される。   In the aligning / conveying unit 110, for example, the first packaging container P1 and the second packaging container P2 are sorted to the front side by the sorting unit 112 in order to form the first-stage alignment relationship. It is rotated by the rotation mechanism 114 in the transport unit 113 and transported in a horizontal posture. Further, the third packaging container P3 is sorted on the front side, the fourth packaging container P4 is in the center, and the fifth packaging container P5 is sorted in the order of the back side, and is conveyed in a vertical posture.

幅広搬送部１１３の終端には、包装容器Ｐの搬送を止めるストッパー１１６が設けられている（図５，図６参照）。ストッパー１１６は、搬送幅方向に延在する棒状部材で有り、包装容器Ｐの長辺３、または短辺４がストッパー１１６に当接して包装容器Ｐが停留する。ストッパー１１６の左右方向の位置を変動可能とすることにより、包装容器Ｐの整列位置ｔが左右方向に調整される。   A stopper 116 for stopping the conveyance of the packaging container P is provided at the end of the wide conveyance unit 113 (see FIGS. 5 and 6). The stopper 116 is a rod-like member extending in the conveyance width direction, and the long side 3 or the short side 4 of the packaging container P comes into contact with the stopper 116 and the packaging container P stops. By making the position of the stopper 116 in the left-right direction variable, the alignment position t of the packaging container P is adjusted in the left-right direction.

１つ目の包装容器Ｐ１は、横姿勢でストッパー１１６に長辺３を当接させて停留する。２つ目の包装容器Ｐ２は、横姿勢で先の１つ目の包装容器Ｐ１に自身の前方の長辺３を当接させて停留する。これにより２つの包装容器Ｐが整列位置ｔの左側に停留する。   The first packaging container P <b> 1 is stopped with the long side 3 coming into contact with the stopper 116 in the horizontal posture. The second packaging container P2 is held in a horizontal posture with the long side 3 in front of itself in contact with the first packaging container P1. As a result, the two packaging containers P are stopped on the left side of the alignment position t.

次いで、３〜５つ目の包装容器Ｐ３〜Ｐ５は、振分部１１２に振り分けられ、幅広搬送部１１３を縦姿勢で搬送され、先の２つ目の包装容器Ｐ２に、それぞれの前方の短辺４を当接させて停留する。したがって、３つの包装容器Ｐが縦姿勢で整列位置の右側に並列に並ぶ。これにより、５つの包装容器Ｐが図３（Ａ）に示す整列関係で整列位置ｔに整列される。   Next, the third and fifth packaging containers P3 to P5 are distributed to the distribution unit 112, conveyed in the vertical posture through the wide conveyance unit 113, and the first short packaging container P2 has a short front of each. Stop by bringing side 4 into contact. Accordingly, the three packaging containers P are arranged in parallel in the vertical position on the right side of the alignment position. Thus, the five packaging containers P are aligned at the alignment position t in the alignment relationship shown in FIG.

保持位置移動手段１２０は、整列位置ｔに整列された包装容器Ｐを保持位置ｕに移動させて配置する。保持位置移動手段１２０は、整列搬送手段１１０の搬送幅方向（手前奥方向）に包装容器Ｐを押圧する第１および第２の押圧部１２１，１２２を備える。第１および第２の押圧部１２１，１２２は、整列搬送手段１１０の搬送方向に並んでおり、第１の押圧部１２１は左側に、第２の押圧部１２２は右側に設けられている。   The holding position moving means 120 moves and arranges the packaging containers P aligned at the alignment position t to the holding position u. The holding position moving unit 120 includes first and second pressing portions 121 and 122 that press the packaging container P in the transport width direction (front and back direction) of the alignment transport unit 110. The first and second pressing portions 121 and 122 are arranged in the conveying direction of the alignment conveying means 110, and the first pressing portion 121 is provided on the left side and the second pressing portion 122 is provided on the right side.

第１の押圧部１２１は、整列位置ｔに整列された５つの包装容器Ｐのうち、左側に配置された包装容器Ｐを押圧する。第１の押圧部１２１は、第１段目または第３段目のように横姿勢の２つの包装容器Ｐが左側に配置される場合、第２段目または第４段目のように縦姿勢の３つの包装容器Ｐが左側に配置される場合のいずれの場合にもこれら左側に配置された包装容器Ｐを押圧できるように形成されている。   The 1st press part 121 presses the packaging container P arrange | positioned at the left side among the five packaging containers P arranged in the alignment position t. When two packaging containers P in a horizontal posture are arranged on the left side as in the first step or the third step, the first pressing portion 121 is in a vertical posture as in the second step or the fourth step. In any case where the three packaging containers P are arranged on the left side, the packaging containers P arranged on the left side can be pressed.

第２の押圧部１２２は、整列位置ｔに整列された５つの包装容器Ｐのうち、右側に配置された包装容器Ｐを押圧する。第２の押圧部１２２は、第１段目または第３段目のように右側に縦姿勢におかれた３つの包装容器Ｐが配置される場合、第２段目または第４段目のように横姿勢におかれた２つの包装容器Ｐが配置される場合のいずれの場合にもこれら右側に整列された包装容器Ｐを押圧できるように形成されている。   The 2nd press part 122 presses the packaging container P arrange | positioned on the right side among the five packaging containers P aligned in the alignment position t. When the three packaging containers P placed in the vertical posture are arranged on the right side like the first stage or the third stage, the second pressing portion 122 is arranged like the second stage or the fourth stage. In any case where two packaging containers P placed in the horizontal position are arranged, the packaging containers P aligned on the right side can be pressed.

第１の押圧部１２１と第２の押圧部１２２は、手前奥方向に伸縮可能であり、包装容器Ｐを奥側に押圧する。各押圧部１２１，１２２は、伸縮するストロークを適宜調整できる。整列位置ｔでは、長辺３を左右方向に沿わせた３つの包装容器Ｐが配置される場合と、長辺３を手前奥方向に沿わせた２つの包装容器Ｐが配置される場合とで、各押圧部１２１，１２２に対する包装容器Ｐの手前側の端部の位置が異なる。   The 1st press part 121 and the 2nd press part 122 can be expanded-contracted in the near back direction, and press the packaging container P to the back side. Each press part 121,122 can adjust the stroke which expands / contracts suitably. At the alignment position t, when three packaging containers P with the long side 3 along the left-right direction are arranged, and when two packaging containers P with the long side 3 along the front-back direction are arranged. The positions of the end portions on the near side of the packaging container P with respect to the pressing portions 121 and 122 are different.

しかし、押圧手段は、この端部の異なる位置関係を補完し、３つの包装容器Ｐと２つの包装容器Ｐとが整列関係を維持したまま、同一量移動するように、各段ごとにストロークを調整される。したがって、５つの包装容器Ｐは、整列位置ｔに整列した所定の整列関係を維持したまま、保持位置ｕに移動される。   However, the pressing means complements the different positional relationship of the end portions, and the stroke is applied to each step so that the three packaging containers P and the two packaging containers P can move the same amount while maintaining the alignment relationship. Adjusted. Accordingly, the five packaging containers P are moved to the holding position u while maintaining a predetermined alignment relationship aligned with the alignment position t.

支持部材１４０は、手前奥方向に移動可能な平板からなり、保持位置移動手段１２０の奥側に接続するように配置されている。支持部材１４０は、手前奥方向に移動することにより、受領状態と展開状態とで遷移する。支持部材１４０は、平板が手前側におかれた状態で包装容器Ｐを受領する受領状態に、平板が奥側におかれた状態で保持位置ｕの下方を展開する展開状態になる。支持部材１４０は、受領状態で、保持位置移動手段１２０により移動された包装容器Ｐを配置される保持位置ｕが規定されている。   The support member 140 is made of a flat plate that can move in the front and back direction, and is disposed so as to be connected to the back side of the holding position moving means 120. The support member 140 moves between the receiving state and the unfolded state by moving in the front and back direction. The support member 140 is in a deployed state in which the flat plate is placed on the near side and the packaging container P is received, and the support member 140 is deployed in a state where the flat plate is placed on the back side and below the holding position u. In the receiving state, the support member 140 has a holding position u in which the packaging container P moved by the holding position moving unit 120 is disposed.

保持手段１３０は、包装容器Ｐを保持する保持部１３１と、保持部１３１を昇降させる昇降部１３２とを備える。保持部１３１は、昇降部１３２の下端に取り付けられたベースＢと、ベースＢに取り付けられた複数の吸盤Ｖとを含む。昇降部１３２は、従来よく知られた、単軸ロボットを備え、保持部を上下方向に移動可能である。保持手段１３０は、水平方向に卵１個分、または半個分程度移動可能となる水平移動機構を備えていてもよい。   The holding means 130 includes a holding unit 131 that holds the packaging container P, and an elevating unit 132 that raises and lowers the holding unit 131. The holding part 131 includes a base B attached to the lower end of the elevating part 132 and a plurality of suction cups V attached to the base B. The lifting / lowering unit 132 includes a well-known single-axis robot and can move the holding unit in the vertical direction. The holding means 130 may include a horizontal movement mechanism that can move about one egg or half of the egg in the horizontal direction.

各吸盤Ｖは、真空吸着可能なように真空機構（図示しない）に接続されており、包装容器Ｐを吸着すべく、真空に引かれる。各吸盤Ｖは、独立して前記真空機構に接続されており、いずれの吸盤Ｖを真空に引くか適宜選択できる。各保持部１３１は、前記真空機構により、保持部１３１が包装容器Ｐに対して上方から吸着する。   Each suction cup V is connected to a vacuum mechanism (not shown) so as to be capable of being vacuum-sucked, and is evacuated to suck the packaging container P. Each suction cup V is independently connected to the vacuum mechanism, and it is possible to appropriately select which suction cup V is to be evacuated. Each holding part 131 attracts the holding part 131 to the packaging container P from above by the vacuum mechanism.

吸盤Ｖは、包装容器Ｐの整列関係に対応されてベースＢに取り付けられており、包装容器Ｐを正確に保持するように位置決めされる。吸盤Ｖは、包装容器Ｐの上部の平坦面に密着して包装容器Ｐを吸着する。したがって、包装容器Ｐは、吸盤Ｖにより上方から保持されるため、水平方向に揺れにくい。なお、包装容器Ｐの蓋体が、本体の卵座２に対応して下方からの凹部に形成されることにより本体の卵座２と共同して卵を保持する凹凸形状であっても、吸盤Ｖは、位置決めされていれば、蓋体の各凸状部を吸着することができる。   The suction cup V is attached to the base B in correspondence with the alignment relationship of the packaging containers P, and is positioned so as to hold the packaging containers P accurately. The suction cup V adheres to the upper flat surface of the packaging container P and adsorbs the packaging container P. Therefore, since the packaging container P is held from above by the suction cup V, it is not easily shaken in the horizontal direction. Even if the lid of the packaging container P is formed in a concave portion from below corresponding to the egg seat 2 of the main body, even if the lid shape is a concave and convex shape that holds the egg together with the egg seat 2 of the main body, the suction cup If V is positioned, each convex part of the lid can be adsorbed.

本実施の形態において、図９に示すように、吸盤Ｖは、包装容器Ｐの長辺３の片側を保持するように位置決めされている。吸盤Ｖは、これにより、包装容器Ｐは斜めに傾いた状態で保持手段１３０に保持される。吸盤Ｖは伸縮性を有するため、包装容器Ｐが傾いた状態でも確実に包装容器Ｐを保持できる。   In the present embodiment, as shown in FIG. 9, the suction cup V is positioned so as to hold one side of the long side 3 of the packaging container P. As a result, the suction cup V is held by the holding means 130 in a state where the packaging container P is inclined. Since the suction cup V has elasticity, the packaging container P can be reliably held even when the packaging container P is tilted.

保持部１３１は、保持位置ｕに移動された包装容器Ｐを上方から保持し、後述するように支持部材１４０が退避された後に、昇降部１３２により包装容器Ｐを保持した状態で下降させ、包装容器Ｐを集成容器Ｑに充填する。容器充填装置１００では、保持部１３１が集成容器Ｑの直上に水平移動しないため、保持された包装容器Ｐが水平方向へ揺れることがない。   The holding unit 131 holds the packaging container P moved to the holding position u from above, and after the support member 140 is retracted as will be described later, the holding unit 131 lowers the packaging container P while holding the packaging container P. The container P is filled into the assembly container Q. In the container filling device 100, since the holding part 131 does not move horizontally immediately above the assembly container Q, the held packaging container P does not shake in the horizontal direction.

保持手段１３０は、包装容器Ｐを保持した後に、包装容器Ｐを支持部材１４０から離すように上昇させる。しかし、保持手段１３０は、支持部材１４０が退避する際に、包装容器Ｐの整列関係を維持できれば、包装容器Ｐを上昇させることなく、支持部材１４０に包装容器Ｐの底面を擦られる程度の位置に保持してもよい。   After holding the packaging container P, the holding means 130 raises the packaging container P so as to be separated from the support member 140. However, the holding means 130 is positioned so that the bottom surface of the packaging container P can be rubbed against the support member 140 without raising the packaging container P if the alignment relationship of the packaging container P can be maintained when the support member 140 is retracted. May be retained.

支持部材退避手段１５０は、保持部１３１が包装容器Ｐを保持した状態で、支持部材１４０を包装容器Ｐの下方から退避させる。すなわち、支持部材１４０の平板は展開状態に遷移される。支持部材退避手段１５０は、保持手段１３０が包装容器Ｐを集成容器Ｑに充填し、保持部１３１が再び上昇した後に、支持部材１４０を受領状態に遷移させる。支持部材退避手段１５０は、支持部材１４０を左右の端部から挟持し、従来よく知られたスライド機構により、支持部材１４０を遷移させる。支持部材退避手段は、支持部材１４０を受領状態と退避状態とに遷移できれば、他の機構であってもよい。   The support member retracting means 150 retracts the support member 140 from below the packaging container P in a state where the holding unit 131 retains the packaging container P. That is, the flat plate of the support member 140 is transitioned to the unfolded state. The support member retracting means 150 causes the support member 140 to transition to the receiving state after the holding means 130 fills the assembly container Q with the packaging container P and the holding part 131 rises again. The support member retracting means 150 sandwiches the support member 140 from the left and right ends, and causes the support member 140 to transition by a conventionally well-known slide mechanism. The support member retracting means may be another mechanism as long as the support member 140 can transition between the receiving state and the retracted state.

集成容器搬送手段１６０は、保持手段１３０により包装容器Ｐが上方から充填されるように、保持手段１３０に保持された包装容器Ｐの下方に集成容器Ｑを搬送する。集成容器搬送手段１６０は、集成容器Ｑが搬入される容器搬入部１６１を上流側に、集成容器Ｑが搬出される集成容器搬出部１６２を下流に備える（図５，図６参照）。容器搬入部１６１と容器搬出部１６２の間には、包装容器Ｐが充填される充填位置ｗが規定される。充填位置ｗは、保持位置ｕの直下に位置する。   The assembly container transport means 160 transports the assembly container Q to the lower side of the packaging container P held by the holding means 130 so that the packaging container P is filled from above by the holding means 130. The collection container transport means 160 includes a container carry-in section 161 into which the collection container Q is carried in on the upstream side and a collection container carry-out section 162 into which the collection container Q is carried out (see FIGS. 5 and 6). Between the container carrying-in part 161 and the container carrying-out part 162, the filling position w where the packaging container P is filled is defined. The filling position w is located immediately below the holding position u.

集成容器Ｑは、上蓋を開かれ、上方が開放した状態で、容器搬入部１６１から搬入され、包装容器Ｐが充填される充填位置ｗを介して、容器搬出部１６２に搬送される。充填位置ｗにおかれた集成容器Ｑは、所定数量の包装容器Ｐが充填され、容器搬出部１６２に搬送された集成容器Ｑは、上蓋が閉じられて市場に流通する。   The assembly container Q is carried in from the container carry-in part 161 with the top lid opened and opened upward, and is conveyed to the container carry-out part 162 via the filling position w where the packaging container P is filled. The assembly container Q placed in the filling position w is filled with a predetermined number of packaging containers P, and the assembly container Q conveyed to the container carry-out section 162 is distributed to the market with the upper lid closed.

整列搬送手段１１０、保持位置移動手段１２０、保持手段１３０、支持部材退避手段１５０、容器搬送手段１６０等の容器充填装置１００の各構成は、包装容器Ｐが集成容器Ｑに順次充填されるように、機械的、又は電気的に連関して動作する。   Each configuration of the container filling device 100 such as the alignment transport unit 110, the holding position moving unit 120, the holding unit 130, the support member retracting unit 150, and the container transport unit 160 is configured so that the packaging container P is sequentially filled in the assembly container Q. Operate mechanically or electrically.

本実施の形態において、整列搬送手段１１０により整列された包装容器Ｐが保持位置移動手段１２０により保持位置ｕに配置されるが、包装容器Ｐが所定の整列関係で保持位置ｕに整列されることにより、保持位置ｕに直接配置されてもよい。保持位置への直接の配置は、作業員により行われてもよいし、搬送装置により行われてもよい。   In the present embodiment, the packaging container P aligned by the aligning and conveying means 110 is arranged at the holding position u by the holding position moving means 120, but the packaging container P is aligned at the holding position u in a predetermined alignment relationship. Thus, it may be arranged directly at the holding position u. The direct arrangement at the holding position may be performed by an operator or a transfer device.

［包装容器の整列方法］ [Method of aligning packaging containers]

次に、本実施の形態にかかる容器充填装置１００における包装容器Ｐの整列方法について説明する。   Next, a method for aligning the packaging containers P in the container filling apparatus 100 according to the present embodiment will be described.

先ず、第１段目の５つの包装容器Ｐは、図３Ａに示すように、包装容器Ｐの長辺３を手前奥方向（Ｘ方向）に沿わせて横姿勢に並べられた２つの包装容器Ｐが左側に、長辺３を左右方向（Ｙ方向）に沿わせて縦姿勢に並べられた３つの包装容器Ｐが右側に配置された整列関係となる。   First, as shown in FIG. 3A, the first five packaging containers P are two packaging containers arranged in a horizontal posture with the long side 3 of the packaging container P along the front-rear direction (X direction). Three packaging containers P arranged in a vertical posture with P on the left side and the long side 3 along the left-right direction (Y direction) are arranged on the right side.

整列される包装容器Ｐは、整列搬送手段１１０の上流側から単列で投入される。投入された包装容器Ｐは、長辺３を搬送方向に沿わせた状態で、単列搬送部１１１を搬送され、振分部１１２で振り分けられ、さらに幅広搬送部１１３を搬送され、整列位置ｔに順次整列される。   The packaging containers P to be aligned are input in a single row from the upstream side of the alignment conveying means 110. The loaded packaging container P is transported through the single-row transport unit 111 in a state where the long side 3 is along the transport direction, sorted by the sorting unit 112, and further transported through the wide transport unit 113. Are sequentially arranged.

第１段目の１つ目の包装容器Ｐ１は、振分部１１２により、搬送幅方向の手前側に振り分けられ、幅広搬送部１１３を搬送され、途中で回転機構１１４により、長辺３を搬送幅方向に沿わせるように９０°回転され、幅広搬送部１１３の終点にてストッパー１１６に長辺３を当接させて第１の押圧部１２１に対応する位置に横姿勢で停留される。   The first packaging container P1 in the first stage is distributed to the front side in the transport width direction by the sorting unit 112, transported by the wide transport unit 113, and transports the long side 3 by the rotating mechanism 114 on the way. It is rotated by 90 ° along the width direction, and the long side 3 is brought into contact with the stopper 116 at the end point of the wide conveying portion 113 and is stopped in a lateral posture at a position corresponding to the first pressing portion 121.

２つ目の包装容器Ｐ２は、振分部１１２により、搬送幅方向の手前側に振り分けられ、幅広搬送部１１３を搬送され、途中で回転機構１１４により、長辺３を搬送幅方向に沿わせるように９０°回転され、先の１つ目の包装容器Ｐ１に自身の長辺３を当接させて１つ目の包装容器Ｐ１の整列位置ｔの右側に第１の押圧部１２１に対応する位置に１つ目の包装容器Ｐ１と平行に並び、横姿勢で停留される。   The second packaging container P2 is distributed to the front side in the conveyance width direction by the distribution unit 112, is conveyed through the wide conveyance unit 113, and the long side 3 is along the conveyance width direction by the rotation mechanism 114 in the middle. The long side 3 of the first packaging container P1 is brought into contact with the first packaging container P1 and corresponds to the first pressing portion 121 on the right side of the alignment position t of the first packaging container P1. It is aligned in parallel with the first packaging container P1 at the position and is stopped in a horizontal posture.

３つ目の包装容器Ｐ３は、振分部１１２により、手前側に振り分けられ、長辺３を搬送方向に沿わせたまま幅広搬送部１１３を搬送され、先の２つ目の包装容器Ｐに、自身の短辺４を当接させて縦姿勢で停留する。   The third packaging container P3 is sorted to the near side by the sorting unit 112, and is transported through the wide transport unit 113 while keeping the long side 3 along the transport direction. , It stops in a vertical posture with its short side 4 abutting.

４つ目の包装容器Ｐ４は、振分部１１２により、中央に振り分けられ、長辺３を搬送方向に沿わせたまま幅広搬送部１１３を搬送され、先の２つ目の包装容器Ｐ２に自身の短辺４を当接させて、３つ目の包装容器Ｐの奥側に３つ目の包装容器Ｐ３と平行に並び、第２の押圧部１２２に対応する位置に縦姿勢で停留される。   The fourth packaging container P4 is distributed to the center by the sorting unit 112, and is transported through the wide transport unit 113 with the long side 3 being along the transport direction, and is transferred to the second packaging container P2 by itself. Are arranged in parallel with the third packaging container P3 on the back side of the third packaging container P, and are stopped in a vertical posture at a position corresponding to the second pressing portion 122. .

５つ目の包装容器Ｐは、振分部１１２により、奥側に振り分けられ、長辺３を搬送方向に沿わせたまま幅広搬送部１１３を搬送され、先の２つ目の包装容器Ｐに自身の短辺４を当接させて、４つ目の包装容器Ｐの奥側に４つ目の包装容器Ｐと平行に並び、第２の押圧部１２２に対応する位置に縦姿勢で停留される。３つ目から５つ目の包装容器Ｐ３〜Ｐ５は、第２の押圧部１２２に対応する位置に、手前奥方向に縦姿勢で並列に並ぶ。   The fifth packaging container P is distributed to the back side by the sorting unit 112 and is transported through the wide transport unit 113 with the long side 3 being along the transport direction. The short side 4 is brought into contact with the back side of the fourth packaging container P, aligned in parallel with the fourth packaging container P, and stopped at a position corresponding to the second pressing portion 122 in a vertical posture. The The third to fifth packaging containers P <b> 3 to P <b> 5 are arranged in parallel in a vertical posture in the front back direction at positions corresponding to the second pressing portions 122.

これにより、５つの包装容器Ｐが所定の整列位置ｔに所定の整列関係で整列する。第３段目の５つの包装容器Ｐ１１〜Ｐ１５は、第１段目の５つの包装容器Ｐ１〜Ｐ５と同様に整列される。   As a result, the five packaging containers P are aligned at a predetermined alignment position t in a predetermined alignment relationship. The five packaging containers P11 to P15 in the third stage are aligned in the same manner as the five packaging containers P1 to P5 in the first stage.

次に、第２段目の包装容器Ｐ６〜Ｐ１０の整列について説明する。第２段目の５つの包装容器Ｐは、図３（Ｂ）に示すように、長辺３を左右方向（Ｙ方向）に沿わせて縦姿勢に並べられた３つの包装容器Ｐが左側に、包装容器Ｐの長辺３を手前奥方向（Ｘ方向）に沿わせて横姿勢に並べられた２つの包装容器Ｐが右側に配置された関係で整列される。   Next, the alignment of the second stage packaging containers P6 to P10 will be described. As shown in FIG. 3B, the five packaging containers P in the second stage have three packaging containers P arranged in a vertical posture with the long side 3 along the left-right direction (Y direction) on the left side. The two packaging containers P, which are arranged in a horizontal posture with the long side 3 of the packaging container P along the front-rear direction (X direction), are aligned in a relationship arranged on the right side.

第２段目の１つ目の包装容器Ｐ６は、振分部１１２により、手前側に振り分けられ、長辺３を搬送方向に沿わせたまま幅広搬送部１１３を搬送され、ストッパー１１６に短辺４を当接させて停留される。１つ目の包装容器Ｐ６は、第１の押圧部１２１に対応する位置に縦姿勢で停留される。   The first packaging container P6 in the second stage is sorted to the near side by the sorting unit 112, is transported through the wide transport unit 113 while keeping the long side 3 along the transport direction, and the stopper 116 has a short side. 4 is brought into contact and stopped. The first packaging container P6 is stopped in a vertical posture at a position corresponding to the first pressing portion 121.

２つ目の包装容器Ｐ７は、振分部１１２により、中央に振り分けられ、長辺３を搬送方向に沿わせたまま幅広搬送部１１３を搬送され、ストッパー１１６に短辺４を当接させて停留される。２つ目の包装容器Ｐ７は、１つ目の包装容器Ｐ６の奥側に１つ目の包装容器Ｐ６と平行に並び、第１の押圧部１２１に対応する位置に縦姿勢で停留される。   The second packaging container P7 is distributed to the center by the distribution unit 112, is conveyed by the wide conveyance unit 113 with the long side 3 being along the conveyance direction, and the short side 4 is brought into contact with the stopper 116. Stopped. The second packaging container P7 is arranged in parallel with the first packaging container P6 on the back side of the first packaging container P6, and is stopped in a vertical posture at a position corresponding to the first pressing portion 121.

３つ目の包装容器Ｐ８は、振分部１１２により、搬送幅方向の奥側に振り分けられ、長辺３を搬送方向に沿わせたまま幅広搬送部１１３を搬送され、ストッパー１１６に前方の短辺４を当接させて停留される。３つ目の包装容器Ｐ８は、１つ目、２つ目の包装容器Ｐ６，Ｐ７に平行に並び、第１の押圧部１２１に対応する位置に縦姿勢で停留される。   The third packaging container P8 is distributed to the back side in the transport width direction by the sorting unit 112, transported through the wide transport unit 113 while keeping the long side 3 along the transport direction, and is moved forward by the stopper 116. The side 4 is brought into contact and is stopped. The third packaging container P8 is arranged in parallel with the first and second packaging containers P6 and P7 and is held in a vertical posture at a position corresponding to the first pressing portion 121.

４つ目の包装容器Ｐ９は、振分部１１２により、搬送幅方向の手前側に振り分けられ、幅広搬送部１１３を搬送され、搬送途中で回転機構１１４により、長辺３を搬送幅方向に沿わせるように９０°回転され、先の３つの包装容器Ｐ６〜Ｐ８の後端に自身の長辺３を当接させて停留される。４つ目の包装容器Ｐ９は、第２の押圧部１２２に対応する位置に横姿勢で停留される。   The fourth packaging container P9 is distributed to the front side in the transport width direction by the sorting unit 112, transported through the wide transport unit 113, and along the transport side in the long side 3 by the rotating mechanism 114 during transport. It is rotated by 90 ° so that the long side 3 of the three packaging containers P6 to P8 comes into contact with the rear ends of the three packaging containers P6 to P8. The fourth packaging container P9 is stopped in a horizontal posture at a position corresponding to the second pressing portion 122.

５つ目の包装容器Ｐ１０は、振分部１１２により、搬送幅方向の手前側に振り分けられ、幅広搬送部１１３を搬送され、搬送途中で回転機構１１４により、長辺３を搬送幅方向に沿わせるように９０°回転され、先の４つ目の包装容器Ｐ９の後端に自身の長辺３を当接させて停留する。５つ目の包装容器Ｐ１０は、第２の押圧部１２２に対応する位置に横姿勢で停留される。   The fifth packaging container P10 is distributed to the front side in the transport width direction by the sorting unit 112, transported through the wide transport unit 113, and along the transport side in the long side 3 by the rotating mechanism 114 during transport. The long side 3 is brought into contact with the rear end of the fourth packaging container P9 and stopped. The fifth packaging container P <b> 10 is stopped in a lateral posture at a position corresponding to the second pressing portion 122.

これにより、５つの包装容器Ｐ６〜Ｐ１０が所定の整列位置ｔに所定の整列関係で整列する。第４段目の５つの包装容器Ｐ１６〜Ｐ２０は、第２段目の５つの包装容器Ｐ６〜Ｐ１０と同様に整列される。   Thereby, the five packaging containers P6 to P10 are aligned at a predetermined alignment position t in a predetermined alignment relationship. The four packaging containers P16 to P20 in the fourth stage are aligned in the same manner as the five packaging containers P6 to P10 in the second stage.

［包装容器Ｐの充填方法］ [Method of filling packaging container P]

次に、包装容器Ｐの充填方法について、図１０を用いて説明する。本実施の形態において、包装容器Ｐは、各段に５つの包装容器Ｐ（一組の包装容器）が整列された状態で、４段に積み重ねられて集成容器Ｑに充填される。したがって、以下では、まず、第１段目の包装容器Ｐの充填について説明する。   Next, the filling method of the packaging container P is demonstrated using FIG. In the present embodiment, the packaging container P is stacked in four stages and filled into the assembly container Q in a state where five packaging containers P (a set of packaging containers) are aligned in each stage. Therefore, first, the filling of the first-stage packaging container P will be described below.

包装容器Ｐが充填される集成容器Ｑは、上方が開放した状態で、集成容器搬送手段１６０の容器搬入部１６１から搬入され、包装容器Ｐが充填される充填位置ｗを介して容器搬出部１６２に搬送される。集成容器Ｑは、充填位置ｗに待機した状態で、上方から包装容器Ｐが充填され、所定数量の包装容器Ｐが充填された後に、容器搬出部１６２に搬送される。   The assembly container Q filled with the packaging container P is carried in from the container carry-in section 161 of the collection container transport means 160 with the upper part opened, and the container carry-out section 162 through the filling position w in which the packaging container P is filled. It is conveyed to. The assembly container Q is in a state of waiting at the filling position w, is filled with the packaging container P from above, is filled with a predetermined number of packaging containers P, and is then transported to the container carry-out section 162.

包装容器Ｐの充填では、先ず、１段目の充填において、５つの包装容器Ｐ１〜Ｐ５が整列搬送手段１１０の上流側から単列で順に投入される。投入された５包装容器Ｐ１〜Ｐ５は、単列搬送部１１１を搬送され、振分部１１２に振り分けられ、さらに幅広搬送部１１３を搬送され、整列位置ｔに所定の整列関係に順次整列される（図１０（Ａ）参照）。   In the filling of the packaging containers P, first, in the first-stage filling, the five packaging containers P1 to P5 are sequentially put in a single row from the upstream side of the aligning and conveying means 110. The five packaging containers P1 to P5 that have been fed are transported through the single-row transport unit 111, distributed to the sorting unit 112, further transported through the wide transport unit 113, and sequentially aligned in a predetermined alignment relationship at the alignment position t. (See FIG. 10A).

次いで、整列位置ｔに整列された５つの包装容器Ｐは、保持位置移動手段１２０に押圧されて保持位置ｕに配置される（図１０（Ｂ）参照）。このとき、保持位置移動手段１２０の左側の第１の押圧部１２１は、横姿勢におかれた１つ目と２つ目の２つの包装容器Ｐ１，Ｐ２を押圧し、保持位置ｕに移動させる。   Next, the five packaging containers P aligned at the alignment position t are pressed by the holding position moving means 120 and arranged at the holding position u (see FIG. 10B). At this time, the first pressing portion 121 on the left side of the holding position moving means 120 presses the first and second packaging containers P1, P2 placed in the horizontal posture and moves them to the holding position u. .

また、保持位置移動手段１２０の右側の第２の押圧部１２２は、手前側に停留した３つ目の包装容器Ｐ３を押圧し、３つ目の包装容器Ｐが押圧されることで、３つ目の包装容器Ｐの奥側に整列した４つ目および５つ目の包装容器Ｐも押圧され、３つ目〜５つ目の包装容器Ｐ３〜Ｐ５が、受領状態の支持部材１４０に規定される保持位置ｕに移動される。本実施の形態において、第１および第２の押圧部１２１，１２２は同時に包装容器Ｐを押圧して移動させるが、保持位置移動手段１２０は、交互に動作してもよい。
Further, the second pressing portion 122 on the right side of the holding position moving means 120 presses the third packaging container P3 stopped on the front side, and the third packaging container P is pressed, so that three The fourth and fifth packaging containers P aligned on the back side of the eye packaging container P are also pressed, and the third to fifth packaging containers P3 to P5 are defined in the support member 140 in the receiving state. Moved to the holding position u. In this embodiment, the first and second pressing portions 121 and 122 is moved by pressing the packaging container P simultaneously, the holding position moving means 12 0 may operate alternately.

長辺３を搬送方向に沿わせた３つの包装容器Ｐと、長辺３を搬送幅方向に沿わせた２つの包装容器Ｐとでは、手前側の端部の位置が異なるが、第１の押圧部１２１と第２の押圧部１２２との、それぞれのストロークを調整することにより、３つの包装容器Ｐと２つの包装容器Ｐとを同量だけ移動させ、整列した関係を保持したまま、５つの包装容器Ｐが整列位置ｔから保持位置ｕに移動される。   The three packaging containers P having the long side 3 along the conveying direction and the two packaging containers P having the long side 3 along the conveying width direction have different positions of the end portions on the near side. By adjusting the strokes of the pressing portion 121 and the second pressing portion 122, the three packaging containers P and the two packaging containers P are moved by the same amount, and the aligned relationship is maintained. One packaging container P is moved from the alignment position t to the holding position u.

保持位置ｕに移動した５つの包装容器Ｐ１〜Ｐ５は、整列関係を維持したまま支持部材１４０上の保持位置ｕに整列された状態で、保持手段１３０の吸盤Ｖに真空吸着される（図１０（Ｃ）参照）。保持手段１３０の保持部１３１は、当初の位置から下降し、吸盤Ｖを包装容器Ｐに密着させる。吸盤Ｖは、包装容器Ｐの整列関係と位置に合わせて、真空吸着するものと、吸着しないものが選択される。   The five packaging containers P1 to P5 moved to the holding position u are vacuum-sucked to the suction cup V of the holding means 130 in a state where they are aligned at the holding position u on the support member 140 while maintaining the alignment relationship (FIG. 10). (See (C)). The holding part 131 of the holding means 130 is lowered from the initial position, and the suction cup V is brought into close contact with the packaging container P. The suction cup V is selected according to the alignment relationship and position of the packaging container P, and the suction cup V is selected from the vacuum suction and the non-adsorption.

保持手段１３０の吸盤Ｖに吸着された５つの包装容器Ｐは、整列した関係を保持したまま、保持手段１３０により上方から保持される（図１０（Ｄ））。保持手段１３０は、包装容器Ｐを上方から吸着し、保持部１３１が昇降部１３２により上方に移動されることにより包装容器Ｐを支持部材１４０から離す。しかし、保持手段１３０は、支持部材１４０に包装容器Ｐの底面が接する程度に包装容器Ｐを保持してもよい。   The five packaging containers P adsorbed by the suction cups V of the holding means 130 are held from above by the holding means 130 while maintaining the aligned relationship (FIG. 10D). The holding means 130 sucks the packaging container P from above, and moves the holding part 131 upward by the elevating part 132 to separate the packaging container P from the support member 140. However, the holding means 130 may hold the packaging container P to the extent that the bottom surface of the packaging container P is in contact with the support member 140.

保持手段１３０に５つの包装容器Ｐが保持された状態で、支持部材１４０は、保持された包装容器Ｐの下方から装置の奥側（Ｘ方向）に退避する（図１０（Ｅ）参照）。これにより、保持位置ｕの下方が展開される。展開された下方には、集成容器Ｑが待機している。   In a state where the five packaging containers P are held by the holding means 130, the support member 140 retracts from the lower side of the held packaging container P to the back side (X direction) of the apparatus (see FIG. 10E). Thereby, the lower part of the holding position u is developed. The assembly container Q is waiting in the developed lower side.

保持手段１３０は、下方の展開された保持位置ｕを通って下降し、一組の包装容器Ｐを集成容器Ｑの中に導入し、一組の包装容器を集成容器Ｑに充填する（図１０（Ｆ））。これにより、１段目の５つの包装容器Ｐが充填される。本実施の形態において、一組の包装容器を保持手段の１回の動作で充填しているが、複数回の動作に分けて充填してもよい。たとえば、保持位置の右側と左側に対応させた２つの保持手段を設け、右側の保持手段と左側の保持手段がそれぞれ１回ずつ動作し、合計２回の動作により一組の包装容器を充填するようにしてもよい。   The holding means 130 descends through the lower deployed holding position u, introduces a set of packaging containers P into the assembly container Q, and fills the assembly container Q with the set of packaging containers Q (FIG. 10). (F)). Thereby, the first five packaging containers P are filled. In the present embodiment, a set of packaging containers is filled by one operation of the holding means, but may be divided into a plurality of operations. For example, two holding means corresponding to the right and left sides of the holding position are provided, and the right holding means and the left holding means each operate once, and a set of packaging containers is filled by a total of two operations. You may do it.

包装容器Ｐを充填した後、保持部１３１は吸着を解除し、昇降部１３２により当初の位置まで上昇される（図１０（Ｇ））。   After filling the packaging container P, the holding unit 131 releases the suction and is raised to the initial position by the elevating unit 132 (FIG. 10G).

保持部１３１が当初の位置に戻った後、支持部材１４０も包装容器Ｐを受ける受領状態に戻る（図１０（Ｈ））。これにより、支持部材１４０は、次の段の包装容器Ｐを保持位置ｕにて受けることができる。   After the holding part 131 returns to the initial position, the support member 140 also returns to the receiving state for receiving the packaging container P (FIG. 10H). Thereby, the support member 140 can receive the next-stage packaging container P at the holding position u.

本実施の形態において、包装容器Ｐが集成容器Ｑの中に導入された段階（図１０（Ｆ））で、次の段の包装容器Ｐが整列位置ｔに整列される。ただし、包装容器Ｐは、先の包装容器Ｐが保持位置ｕに移動されてから集成容器Ｑに充填されるまでの間であれば、いずれのタイミングで整列されてもよい。   In the present embodiment, when the packaging container P is introduced into the assembly container Q (FIG. 10F), the packaging container P in the next stage is aligned at the alignment position t. However, the packaging container P may be aligned at any timing as long as it is from when the previous packaging container P is moved to the holding position u to when the assembly container Q is filled.

次いで、２段目〜４段目の包装容器Ｐが集成容器Ｑに順に充填される。各段には、５つの包装容器Ｐが充填され、１段目と３段目とは同じ整列関係で、また２段目と４段目とも同じ整列関係で充填される。各段の包装容器Ｐの間には、敷居７が配置される。敷居７は、人手や機械による、従来よく知られる方法にて各段に挟み込むことができる。たとえば、保持手段１３０を利用して敷居７を集成容器に配置してもよい。 Next, the second to fourth packaging containers P are filled in the assembly container Q in order. Each stage is filled with five packaging containers P, and the first stage and the third stage are filled with the same alignment relation, and the second stage and the fourth stage are filled with the same alignment relation. A sill 7 is arranged between the packaging containers P of each stage. Insole stay 7 may be sandwiched to each stage in the method manual or machine, which is conventionally well known. For example, the threshold 7 may be disposed in the assembly container using the holding means 130.

各段の包装容器Ｐの充填に関して、充填される包装容器Ｐの高さ位置が異なるが、昇降部１３２は、各段の包装容器Ｐの高さに応じて、移動量を適宜調整される。単軸ロボットの制御により、移動量を調整できる。   Regarding the filling of the packaging containers P at each stage, the height positions of the packaging containers P to be filled are different, but the moving amount of the elevating unit 132 is appropriately adjusted according to the height of the packaging containers P at each stage. The amount of movement can be adjusted by controlling a single-axis robot.

一組の包装容器Ｐが４段に積み重ねて充填された集成容器Ｑは、容器搬出部１６２に向けて搬送される。これに伴い、次の集成容器Ｑが容器搬入部１６１から搬送される。次の集成容器Ｑについても上記のステップが繰り返され、同様に包装容器Ｐが充填される。   The assembly container Q in which a set of packaging containers P is stacked and filled in four stages is conveyed toward the container unloading section 162. Along with this, the next assembly container Q is transported from the container carry-in section 161. The above steps are repeated for the next assembly container Q, and the packaging container P is similarly filled.

本実施の形態において、整列位置に所定の整列関係で整列された包装容器Ｐが保持位置ｕに移動して配置されるが、包装容器Ｐが所定の整列関係で保持位置に整列されることにより、保持位置ｕに直接配置されてもよい。そのような保持位置への直接の配置は、作業員により行われてもよいし、搬送装置により行われてもよい。   In the present embodiment, the packaging container P aligned at the alignment position in the predetermined alignment relationship is moved to the holding position u and is arranged. However, the packaging container P is aligned at the holding position in the predetermined alignment relationship. , May be arranged directly at the holding position u. Such direct placement at the holding position may be performed by an operator or a transfer device.

本発明の実施の形態にかかる容器充填装置は、包装容器を保持した状態で集成容器の直上に向けて水平方向に移動することがないため、保持された包装容器が大きく揺れることなく集成容器に充填される。したがって、容器充填装置は、集成容器に向けた水平移動を行うための移動機構を備えることがなく、装置構成が簡易になる。   Since the container filling apparatus according to the embodiment of the present invention does not move in the horizontal direction directly above the assembly container while holding the packaging container, the retained packaging container is not greatly shaken. Filled. Therefore, the container filling apparatus does not include a moving mechanism for performing horizontal movement toward the assembly container, and the apparatus configuration is simplified.

本発明の実施の形態にかかる容器充填方法は、包装容器を保持した状態で集成容器の直上に向けて水平方向に移動することがないため、保持された包装容器を揺らすことなく集成容器に充填できる。したがって、水平移動のステップが不要となり、包装容器の充填を容易にできる。   In the container filling method according to the embodiment of the present invention, since the packaging container is held and does not move in the horizontal direction directly above the assembly container, the assembly container is filled without shaking the held packaging container. it can. Therefore, the step of horizontal movement becomes unnecessary, and filling of the packaging container can be facilitated.

また、本実施の形態にかかる容器充填装置および充填方法では、包装容器が吸盤により直上から真空吸着により保持され、吸盤の直下には集成容器が待機しているため、充填作業の途中で吸盤の真空吸着が解除されても、集成容器に包装容器が充填される。   Further, in the container filling apparatus and filling method according to the present embodiment, the packaging container is held by vacuum suction from directly above the suction cup, and the collecting container is waiting immediately below the suction cup. Even when the vacuum suction is released, the assembly container is filled with the packaging container.

本実施の形態にかかる容器充填装置は、整列搬送部を備え、整列搬送部で整列された整列関係を維持して集成容器に包装容器を充填する。整列搬送部は、種々の整列関係で複数の包装容器を整列させる。したがって、容器充填装置は、種々の整列関係で包装容器を集成容器に充填することができる。また、容器充填装置は、４段に限らず、少なくとも１段の包装容器を充填する。   The container filling apparatus according to the present embodiment includes an aligning and transporting unit, and fills the assembly container with the packaging container while maintaining the alignment relationship aligned by the aligning and transporting unit. The alignment transport unit aligns a plurality of packaging containers in various alignment relationships. Therefore, the container filling device can fill the assembly container with the packaging container in various alignment relationships. Further, the container filling device is not limited to four stages, and fills at least one stage of packaging container.

本実施の形態にかかる容器充填装置および容器充填方法は、一組の包装容器を整列させるステップが、他の一組の包装容器が保持、下降、導入、解除等により充填されるステップと重複して行われる。これにより、包装容器の充填を円滑に行うことができる。これは、本実施の形態にかかる容器充填方法が包装容器を保持した状態で水平方向に移動させるステップを含まないことに相まって、迅速な容器充填方法が提供される。   In the container filling apparatus and the container filling method according to the present embodiment, the step of aligning a set of packaging containers overlaps with the step of filling another set of packaging containers by holding, lowering, introducing, releasing, etc. Done. Thereby, filling of a packaging container can be performed smoothly. This is coupled with the fact that the container filling method according to the present embodiment does not include the step of moving the container in the horizontal direction while holding the packaging container, thereby providing a quick container filling method.

今回開示された実施の形態は例示であってこれに制限されるものではない。本発明は上記で説明した範囲ではなく、特許請求の範囲によって示され、特許請求の範囲と均等の意味及び範囲でのすべての変更が含まれることが意図される。   The embodiment disclosed this time is an example, and the present invention is not limited to this. The present invention is defined by the terms of the claims, rather than the scope described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

本発明は、包装容器の集成容器への充填に利用できる。   The present invention can be used to fill a packaging container with a packaging container.

１００ 容器充填装置
１１０ 整列搬送手段
１２０ 保持位置移動手段
１３０ 保持手段
１４０ 支持部材
１５０ 退避手段
１６０ 集成容器搬送手段
Ｐ 包装容器
Ｑ 集成容器
ｔ 整列位置
ｕ 保持位置
ｗ 充填位置 DESCRIPTION OF SYMBOLS 100 Container filling apparatus 110 Alignment conveyance means 120 Holding position movement means 130 Holding means 140 Support member 150 Retraction means 160 Collection container conveyance means P Packaging container Q Assembly container t Alignment position u Holding position w Filling position

Claims (3)

支持部材上の保持位置に整列された複数の包装容器を上方から保持し、前記保持位置の下方に配置され、上方に開放した集成容器に、保持された前記包装容器を充填する容器充填方法であって、
前記包装容器を所定の整列関係で前記保持位置に配置する第１のステップと、
前記第１のステップの後に、前記包装容器を上方から保持し、鉛直方向に移動させる保持手段によって、前記保持位置に配置された前記包装容器を上方から保持する第２のステップと、
前記第２のステップの後に、前記包装容器の下方から前記支持部材を退避させる第３のステップと、
前記第３のステップの後に、前記保持手段が前記保持した包装容器を直下に下降させ前記集成容器に充填する第４のステップとを備え、
前記第１から第４のステップが複数回繰り返されることにより、所定数の前記包装容器が充填され、
前記第１のステップは、前記保持位置とは異なる整列位置に所定の整列関係で前記包装容器を整列させる第５のステップと、
前記整列位置に整列された前記包装容器を前記保持位置に移動させる第６のステップとを含み、
前記第５のステップは、前記第２〜第４のステップおよび前記第６のステップの少なくともいずれか１つのステップに重複して行われ、
前記第６のステップは、第５のステップで整列した包装容器を、整列した状態を維持して保持位置に移動させることを含み、
前記第２のステップは、保持位置に移動した包装容器を、整列した状態を維持して保持することを含む、容器充填方法。 A container filling method in which a plurality of packaging containers aligned at a holding position on a support member are held from above, and the held packaging containers are filled into a collection container disposed below the holding position and opened upward. There,
A first step of placing the packaging container in the holding position in a predetermined alignment relationship;
After the first step, the second step of holding the packaging container placed in the holding position from above by holding means that holds the packaging container from above and moves in the vertical direction;
After the second step, a third step of retracting the support member from below the packaging container;
After the third step, the holding means comprises a fourth step of lowering the held packaging container directly below and filling the assembly container,
By repeating the first to fourth steps a plurality of times, a predetermined number of the packaging containers are filled ,
The first step includes a fifth step of aligning the packaging container in a predetermined alignment relationship at an alignment position different from the holding position;
A sixth step of moving the packaging container aligned at the alignment position to the holding position;
The fifth step is performed overlapping with at least one of the second to fourth steps and the sixth step,
The sixth step includes moving the packaging container aligned in the fifth step to the holding position while maintaining the aligned state;
The container filling method, wherein the second step includes holding the packaging container moved to the holding position in an aligned state . 前記包装容器は、１つの集成容器に多数段に積み重ねられて充填され、
奇数段と偶数段で整列関係が異なる、請求項１に記載の容器充填方法。 The packaging container is stacked and filled in one assembly container in multiple stages,
Aligned relationship odd number and even-numbered stages are different, container filling method according to claim 1. 前記保持手段は、前記包装容器を傾けた状態で保持する、請求項１または２のいずれか一項に記載の容器充填方法。
The holding means is held in an inclined state of said packaging container, a container filling method according to any one of claims 1 or 2.
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