JP6550613B2 - Product accumulation equipment - Google Patents

Product accumulation equipment Download PDF

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JP6550613B2
JP6550613B2 JP2015093898A JP2015093898A JP6550613B2 JP 6550613 B2 JP6550613 B2 JP 6550613B2 JP 2015093898 A JP2015093898 A JP 2015093898A JP 2015093898 A JP2015093898 A JP 2015093898A JP 6550613 B2 JP6550613 B2 JP 6550613B2
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conveyor
product
receiving frame
belt
receiving
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正司 小倉
正司 小倉
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合資会社６０ｓ
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Description

本発明は、製品が箱詰めされるのに先立ち、その箱詰め本数に合わせて製品を集める製品集積装置に関する。   The present invention relates to a product accumulation device for collecting products according to the number of boxes before the products are boxed.

例えば、ドレッシング等の調味料などは、工場でボトル状や円筒状等の容器に充填されて製品化され、その後、段ボール箱の大きさに合わせた所定本数毎にまとめる作業工程を経て、箱詰めされる。箱詰めに先立ち、その箱詰め本数に合わせて製品を集積するのが一般的であり、集積後に、ロボット等を使って箱詰めが行われてきた。ただ、供給コンベア上で製品の集積を行うと、ロボットで集積製品を掴み取り、該集積製品がその場所から離れるまで、供給コンベアを止めなければならなかった。その分、集積作業が止まる状態になり、処理作業能力を低下させていた。
こうした問題に対し、製品集積の処理作業を迅速にする発明が提案されている（例えば特許文献１）。 For example, seasonings such as dressings are filled into bottles or cylinders at the factory and commercialized, and then packed through a work process that is organized into a predetermined number according to the size of the cardboard box. The Prior to boxing, products are generally collected according to the number of boxes, and after packing, boxes have been packed using a robot or the like. However, when the products were accumulated on the supply conveyor, the robot had to grab the accumulated product and stop the supply conveyor until the accumulated product left the place. As a result, the accumulation work has been stopped and the processing capacity has been reduced.
In order to deal with such problems, an invention has been proposed that speeds up the process of product accumulation (for example, Patent Document 1).

特開２０１０−１４９９６０号公報JP 2010-149960 A

しかるに、特許文献１の発明は、その請求項１のごとく「製造工程から設けられた商品供給路の前方に、該商品供給路の前端位置に両側から横行自在であり、所定個数の商品を載置する長さを有し、且つ前端部及び後端部位置に商品ストッパーを配置した複数の商品振分けコンベアが設けられ、さらに該商品振分けコンベアの前方に多数列搬送コンベアが設けられてなることを特徴とする商品自動集積装置」であり、必要な集積用スペースが広くなる問題があった。さらに、製造工程から設けられた商品供給路の前方にて、商品振分けコンベアで横方向に方向転換する方法であり、接地面積に対し高さがあるドレッシング等のボトル状や円筒状等の容器入り製品では転倒する虞があった。   However, according to the invention of Patent Document 1, as described in claim 1, “a front of the product supply path provided from the manufacturing process is freely traversed from both sides to the front end position of the product supply path, and a predetermined number of products are loaded. There are provided a plurality of product distribution conveyors having a length to be placed and having product stoppers arranged at the front end and rear end positions, and further, a multi-row transfer conveyor is provided in front of the product distribution conveyors. There is a problem that the required product space is widened. Furthermore, it is a method of changing the direction in the lateral direction by the product distribution conveyor in front of the product supply path provided from the manufacturing process, and containing containers such as dressings and cylinders having height relative to the ground contact area. There was a risk of the product falling.

本発明は、上記問題点を解決するもので、製品を供給するコンベアを止めずに連続的な自動集積が可能であり、さらに接地面積に対し高さがある製品でも安定して集積の振分け処理ができ、加えて、装置の据付け面積もコンパクト化できる製品集積装置を提供することを目的とする。   The present invention solves the above-mentioned problems, enables continuous automatic stacking without stopping the conveyor that supplies the products, and stable stacking processing even for products that are higher than the ground contact area. In addition, an object of the present invention is to provide a product integration device that can reduce the installation area of the device.

上記目的を達成すべく、請求項１に記載の発明の要旨は、製品(P)をベルト(11)に載せて進行させるコンベア(1)と、該コンベア(1)の上方域で躯体(9)に固着した固定部(21)に係合する可動部(25)を、その進退動方向(X)が平面視でベルト(11)の進行方向(Y)と直交するようにして、受枠位置決め制御用アクチュエータ(26)に接続してなる制御手段が、該コンベア(1)の上流側から下流側に向けて第一位置制御手段(2a)、第二位置制御手段(2b)として並設された受枠用位置制御手段(2)と、前記可動部(25)の各先端部分に、その進出方向へ向けて突設し、前記ベルト(11)の進行方向と対向する受部(31)を有して、可動部(25)の進退動方向(X)に製品用個別スペース(30)を複数連ねることのできる収容スペース(S)が設けられ、前記可動部(25)の進出で前記ベルト(11)上を横切ってコンベア(1)外へ出る一方、その状態から該可動部(25)の後退で、該ベルト(11)を横切って先端が該ベルト(11)上に出ない位置まで引っ込むことのできる受枠(3)と、該受枠(3)の在るコンベア地点よりもコンベア(1)の上流側領域で、該コンベア(1)に載って該受枠(3)へと進む製品(P)の通過を検出する主センサ(81)と、躯体(9)に配される板体で、互いに離間させてつくる帯状通路(AL)に前記コンベア(1)のベルト(11)が配設されるように夫々の一側縁を該ベルト沿いに沿わせると共に、前記ベルト(11)の上面(11a）に上面を合わせ、且つ前記可動部(25)の進退動方向へ向けて該上面が水平に延在する二つの敷板(95,96)と、を具備し、該主センサ(81)による製品(P)の通過検出に伴い、前記コンベア上流側に位置する受枠(3)の各個別スペース(30)がコンベア(1)上に順次くるように前記第一位置制御手段(2a)の可動部(25)を進出又は退動させ、コンベア(1)が連続運転中にあって、ベルト(11)を滑った状態で前記受枠(3)に製品(P)が係止保持されて、該受枠(3)内に製品(P)を連ねるように集積して前記収容スペース(S)に満たした後、該可動部(25)を進出させるか退動させて該受枠(3)をコンベア(1)外の前記敷板(95)又は敷板(96)上へ出し、該受枠(3)が前記ベルト(11)に載って運ばれてきた次の製品(P)をかわす一方、コンベア下流側に位置する受枠(3)の各個別スペース(30)がコンベア(1)上に順次くるようにして、その受枠(3)内に該製品(P)を連ねるよう集積することを特徴とする製品集積装置にある。
請求項２の発明たる製品集積装置は、請求項１で、受枠(3)が、その下縁を前記ベルト(11)の上面(11a)及び両敷板(95,9)から浮き上がった状態にして、前記受部(31)の両端からコンベア(1)上流側へ向けて平面視コ字状に側板(32)を延在させ、且つ該受部(31)が製品(P)を受け止める受面からコンベア上流側へ向けて前記各個別スペース(30)に区画化する仕切板(33)を櫛歯状に延在させてなることを特徴とする。
請求項３の発明たる製品集積装置は、請求項１又は２で、コンベア(1)上流側の前記受枠(3)よりもさらにコンベア(1)の上流側に位置する領域の躯体(9)に、補助アクチュエータの基部(71)を固定し、該基部(71)から進退動可能な可動体(72)の先端にストッパ部材(75)を取着したストッパ手段(7)と、該ストッパ部材(7)の地点よりもコンベア(1)の上流側に位置する領域で、コンベア(1)に載って該受枠(3)へと進む製品(P)の通過を検出する補助センサ(82)と、をさらに具備し、前記第一位置制御手段(2a)の可動部(25)に突設する前記受枠(3)をかわして、コンベア下流側に位置する受枠(3)内の各個別スペース(30)がコンベア(1)上に順次くるようにして、コンベア下流側に位置する受枠(3)内に製品(P)を集積させ、該受枠(3)の収容スペース(S)を満たす製品(P)の個数を前記補助センサ(82)が検出することで、前記補助アクチュエータの前記可動体(72)が進出し、前記ストッパ部材(75)を前記コンベア(1)上に配させて、前記コンベア上流側に位置する受枠(3)の先端にある個別スペース(30)がコンベア(1)上へくるまで、コンベア(1)に載って該受枠(3)へと進む製品(P)の進行を遮るようにしたことを特徴とする。
請求項４の発明たる製品集積装置は、請求項３で、ストッパ手段(7)よりもコンベア(1)の上流側に位置する領域の躯体(9)に、プッシャーアクチュエータの主部(M1)を固定し、該主部(M1)から進退動方向が前記ベルト(11)の進行方向と直交する可動部材(M2)の先端に、前面板部(M5a)が該ベルト(11)の上面よりも高い位置で且つベルト進行方向に沿って起立するプッシャー部材(M5)を取付けたプッシャー手段(M)と、前記ベルト(11)を挟んで、前記プッシャーアクチュエータの主部(M1)に対向するようにして躯体(9)に固着した固定主部(J1)に、係合する可動子(J5)を、その進退動方向が平面視でベルト(11)の進行方向と直交するようにして、受部材の位置決め制御用アクチュエータ(J6)に接続してなる受部材の位置制御手段(J)と、前記可動子(J5)に、その進出方向へ向けて突設させ、前記前面板部(M5a)に対向する受面を備えた受部材(N)と、前記前面板部(M5a)よりもコンベア(1)の下流域で且つ前記ベルト(11)の上方に配設され、ベルト(11)に載って進行する前記製品(P)に当接し、該製品を停止させる停止部材(T)と、をさらに具備し、前記可動部材(M2)の進出に合わせて、受部材の位置制御手段(J)の可動子(J5)を順次後退させて、該停止部材(T)に停止させられた前記製品(P)を、前記敷板(95)上へ移動させて集積することを特徴とする。 In order to achieve the above object, the gist of the invention according to claim 1 comprises a conveyor (1) for advancing a product (P) on a belt (11) and a housing (9) in the upper area of the conveyor (1) The movable part (25) engaged with the fixed part (21) fixed to the frame) is positioned so that its advancing / retreating direction (X) is orthogonal to the advancing direction (Y) of the belt (11) in plan view. Control means connected to the control actuator (26) are juxtaposed as a first position control means (2a) and a second position control means (2b) from the upstream side to the downstream side of the conveyor (1) A receiving frame position control means (2) and a receiving portion (31) projecting in the advance direction at each tip portion of the movable portion (25) and facing the traveling direction of the belt (11). And an accommodating space (S) capable of connecting a plurality of individual product spaces (30) in the advancing / retreating direction (X) of the movable part (25) is provided, and when the movable part (25) advances, the belt (11) across the top Bear (1) while going out, in retreat of the movable portion (25) from that state, receiving frame (3 tip across the belt (11) can be retracted to a position which does not appear on the belt (11) ) And the passage of the product (P) that travels to the receiving frame (3) on the conveyor (1) in the region upstream of the conveyor (1) from the conveyor point where the receiving frame (3) is located. Each of the belts (11) of the conveyor (1) is disposed in a belt-like passage (AL) that is formed by separating the main sensor (81) and the plate (9) from the plate (9). Two side edges are provided along the belt, the upper surface is aligned with the upper surface (11a) of the belt (11), and the upper surface extends horizontally in the advancing and retracting direction of the movable part (25) . Each individual space (30) of the receiving frame (3) located on the upstream side of the conveyor is provided with a floor plate (95, 96), and the main sensor (81) detects the passage of the product (P). 1) to come up sequentially The movable part (25) of the first position control means (2a) is advanced or retracted, and the conveyor (1) is in continuous operation, and the belt (11) is slid and the product is placed on the receiving frame (3). (P) is locked and held , and the product (P) is accumulated so as to be continuous in the receiving frame (3) and filled in the accommodation space (S), and then the movable portion (25) is advanced or retracted by moving said receiving frame (3) a conveyor (1) outside of said sole plate (95) or sole plate (96) and out to the above receiving frame (3) is the following that has been carried rests on the belt (11) while to leather products (P), each individual space receiving frame (3) located conveyor downstream (30) so as to sequentially come in on a conveyor (1), said product (P on the receiving frame (3) in In a product accumulation device characterized in that the
In the product accumulation device of the second aspect of the present invention, in the first aspect, the lower end of the receiving frame (3) is lifted from the upper surface (11a) of the belt (11) and both base plates (95, 9). The side plate (32) extends in a U-shape in a plan view from both ends of the receiving portion (31) toward the upstream side of the conveyor (1), and the receiving portion (31) receives the product (P). A partition plate (33) partitioned into the individual spaces (30) is extended in a comb-tooth shape toward the upstream side of the conveyor.
According to a third aspect of the present invention, there is provided the product stacking apparatus according to the first or second aspect, wherein the housing (9) in the region located upstream of the conveyor (1) further upstream of the receiving frame (3) upstream of the conveyor (1). A stopper means (7) in which a base (71) of the auxiliary actuator is fixed and a stopper member (75) is attached to the tip of the movable body (72) which can be advanced and retracted from the base (71); An auxiliary sensor (82) that detects the passage of the product (P) that is placed on the conveyor (1) and proceeds to the receiving frame (3) in an area located on the upstream side of the conveyor (1) from the point of 7); And each of the individual spaces (30) in the receiving frame (3) located on the downstream side of the conveyor, replacing the receiving frame (3) protruding from the movable portion (25) of the first position control means (2a). ) Are successively placed on the conveyor (1) so that the products (P) are accumulated in the receiving frame (3) located on the downstream side of the conveyor, and the products (P) satisfying the receiving space (S) of the receiving frame (3) are collected. The number of The sensor (82) detects that the movable body (72) of the auxiliary actuator advances, and the stopper member (75) is disposed on the conveyor (1), and a receiving frame positioned on the upstream side of the conveyor Until the individual space (30) at the tip of (3) comes on the conveyor (1), it is placed on the conveyor (1) to interrupt the progress of the product (P) advancing to the receiving frame (3) Features.
According to a fourth aspect of the present invention, there is provided the product accumulating apparatus according to the third aspect, wherein the main portion (M1) of the pusher actuator is attached to the housing (9) in the region located on the upstream side of the conveyor (1) relative to the stopper means (7). The front plate portion (M5a) is fixed to the front end of the movable member (M2) which is fixed and whose advancing and retracting direction from the main portion (M1) is orthogonal to the advancing direction of the belt (11) than the upper surface of the belt (11) Pusher means (M) with a pusher member (M5) standing up in the belt traveling direction at a high position and the belt (11) sandwiched between the pusher actuator main part (M1). Of the movable main body (J5) engaged with the fixed main portion (J1) fixed to the housing (9) so that the advancing and retracting direction is orthogonal to the advancing direction of the belt (11) in plan view, the receiving member Position control means (J) of the receiving member connected to the positioning control actuator (J6) and the mover (J5) in the direction of its advance A receiving member (N) provided with a receiving surface facing the front plate portion (M5a), and a downstream area of the conveyor (1) from the front plate portion (M5a) and the belt (11). A stop member (T) disposed above and contacting the product (P) that travels on the belt (11) and stops the product, and further advances the movable member (M2). At the same time, the mover (J5) of the position control means (J) of the receiving member is sequentially retracted, and the product (P) stopped by the stop member (T) is moved onto the floor plate (95). It is characterized in that it is made to accumulate.

本発明の製品集積装置は、製品を載せて供給するコンベアを止めずに、製品の連続的な自動集積ができ、しかも、高さのある柱状製品等であっても転倒するようなことがなく、さらに装置の設置面積もコンパクト化できるなど、処理作業の向上や安定的運転の実施等に優れた効果を発揮する。   The product stacking apparatus of the present invention allows continuous automatic stacking of products without stopping the conveyor for loading and supplying the products, and does not fall even if the columnar product has a height. Furthermore, the installation area of the apparatus can be reduced, and the effects of improving processing work and implementing stable operation are exhibited.

実施形態１における製品集積装置の概略正面図である。1 is a schematic front view of a product accumulation device in Embodiment 1. FIG. 図１の第二位置制御手段周りの要部拡大図である。FIG. 3 is an enlarged view of a main part around a second position control unit in FIG. 1. 図１の第一位置制御手段周りの要部拡大図である。It is a principal part enlarged view around the 1st position control means of FIG. 図１の製品集積装置の概略左側面図である。FIG. 2 is a schematic left side view of the product integration device of FIG. 1. 図１の製品集積装置の概略平面図である。It is a schematic plan view of the product integration device of FIG. 図５で、ストッパ手段を作動させた概略平面図である。In FIG. 5, it is the schematic top view which act | operated the stopper means. 製品を集積する各ステップにおける受枠周りの説明平面図である。It is an explanatory top view around a receiving frame in each step of accumulating products. 図７に続く製品を集積する各ステップにおける受枠周りの説明平面図である。FIG. 8 is an explanatory plan view around the receiving frame in each step of accumulating products following FIG. 7. 図８に続く製品を集積する各ステップにおける受枠周りの説明平面図である。FIG. 9 is an explanatory plan view around a receiving frame in each step of accumulating products following FIG. 8. 実施形態２における製品集積装置のプッシャーアクチュエータ周りの概略平面図である。FIG. 6 is a schematic plan view around a pusher actuator of a product accumulation device according to Embodiment 2. 図１０の概略正面図である。It is a schematic front view of FIG. 図１０の状態から可動部材が進出し、製品を集積する様子を示した概略平面図である。It is the schematic plan view which showed a mode that a movable member advanced from the state of FIG. 10, and integrated | stacked a product. 図１２の概略正面図である。It is a schematic front view of FIG. 図１２の状態から可動部材が退動した様子を示した概略平面図である。It is the schematic plan view which showed a mode that the movable member retracted | retreated from the state of FIG. 図１４の概略正面図である。It is a schematic front view of FIG. 図１４の状態から受部材が新たな製品を受け止めた様子を示した概略平面図である。It is the schematic plan view which showed a mode that the receiving member received the new product from the state of FIG. 図１６の概略正面図である。FIG. 17 is a schematic front view of FIG. 16. 図１６の状態から可動部材が順次進出し、受部材側に所定本数の製品を集積完了させた概略平面図である。FIG. 17 is a schematic plan view in which a movable member has sequentially advanced from the state of FIG. 16 and a predetermined number of products have been accumulated on the receiving member side. 図１８の概略正面図である。It is a schematic front view of FIG.

以下、本発明に係る製品集積装置について詳述する。
（１）実施形態１
図１〜図９は本発明の製品集積装置の一形態で、図１はその概略正面図、図２,図３は図１の要部拡大図、図４は図１の製品集積装置の概略左側面図、図５は図１の製品集積装置の概略平面図、図６は図５のストッパ手段を作動させた概略平面図、図７〜図９は製品を集積する各ステップ(各工程)における受枠周りの説明平面図を示す。尚、図面を判り易くするため、図１は第一位置制御手段２ａの図示を省き、図４は制御盤ＣＲの図示を省き、図５,図６はコンベア用減速機付きモータ１５の図示を省く。 Hereinafter, the product accumulation device according to the present invention will be described in detail.
(1) Embodiment 1
1 to 9 show an embodiment of a product integration device according to the present invention. FIG. 1 is a schematic front view thereof, FIGS. 2 and 3 are enlarged views of main parts of FIG. 1, and FIG. FIG. 5 is a schematic plan view of the product accumulating apparatus in FIG. 1, FIG. 6 is a schematic plan view in which the stopper means in FIG. 5 is operated, and FIGS. The explanatory plan view of the circumference of the receiving frame in. In order to make the drawings easy to understand, FIG. 1 omits the illustration of the first position control means 2a, FIG. 4 omits the illustration of the control panel CR, and FIGS. 5 and 6 show the illustration of the motor 15 with a conveyor speed reducer. Omit.

製品集積装置は、コンベア１と受枠用位置制御手段２と受枠３と連結部材４と立板片５１と主センサ８１とを具備し、これらが躯体９に取付けられている。
躯体９は、フレーム９１で図１〜図４のごとく櫓体の骨組み形成すると共に、基板９２,敷板９５,９６、上板９７を取着した枠組み体である。そのフレーム９１の前方側（図１で紙面左側）に設けた六面体形骨組みの上面に基板９２を水平固定し、また一段高くした後方側の高台上面に上板９７を水平固定する。前記基板９２上に、嵩上げ部材９３を介在させて、両敷板９５,９６をコンベア１のベルト１１が通る通路ＡＬを空けて水平固定する。敷板９５,９６は、躯体９の上部に配される板体で、前記ベルト１１の上面１１ａに上面を合わせ、且つ一側縁を該ベルト沿いに沿わせると共に、前記受枠用位置制御手段２の可動部２５の進退動方向へ向けて該上面が水平に延在する。 The product stacking apparatus includes a conveyor 1, a receiving frame position control means 2, a receiving frame 3, a connecting member 4, a standing plate piece 51, and a main sensor 81, which are attached to the housing 9.
The frame 9 is a frame body in which a frame 91 is formed with a frame 91 as shown in FIGS. 1 to 4, and a substrate 92, floor plates 95 and 96, and an upper plate 97 are attached. The substrate 92 is horizontally fixed on the upper surface of a hexahedral frame provided on the front side of the frame 91 (the left side in FIG. 1), and the upper plate 97 is horizontally fixed on the upper surface of the raised platform that is one step higher. On the substrate 92, a raising member 93 is interposed, and both the floor plates 95 and 96 are horizontally fixed with a passage AL through which the belt 11 of the conveyor 1 passes. The floor plates 95 and 96 are plates disposed on the upper portion of the housing 9, align the upper surface with the upper surface 11 a of the belt 11, and have one side edge along the belt, and the position control means 2 for the receiving frame. The upper surface extends horizontally in the advancing and retracting direction of the movable portion 25.

コンベア１は、ベルト１１に製品Ｐを載せて受枠用位置制御手段２側へ向けて進行させる搬送手段である。ここでは、前プーリ１３,後プーリ,ベルト１１を備え、ベルト１１が平行掛けされるベルト伝動装置を用いる。図４,図５のごとく両敷板９５,９６を離間させてつくる帯状通路ＡＬにコンベア１のベルト１１が配設される。紙面下方側に位置する前プーリ１３と紙面上方側に位置する図示しない後プーリとにベルト１１が巻回し、減速機付きモータ１５のモータ軸１９が前プーリ１３に連結して、ベルト１１のベルト上面１１ａが図５の白抜き矢印のように紙面下方へ進行する。該白抜き矢印方向がコンベア１(具体的には製品Ｐが載るベルト上面１１ａ)の進行方向Ｙとなる。   The conveyor 1 is a conveying means that places the product P on the belt 11 and advances it toward the receiving frame position control means 2 side. Here, a belt transmission provided with a front pulley 13, a rear pulley, and a belt 11 and in which the belt 11 is mounted in parallel is used. As shown in FIGS. 4 and 5, the belt 11 of the conveyer 1 is disposed in a belt-like passage AL formed by separating both the base plates 95 and 96 from each other. The belt 11 is wound around a front pulley 13 located on the lower side of the drawing and a rear pulley (not shown) located on the upper side of the drawing, and the motor shaft 19 of the reduction motor 15 is connected to the front pulley 13. The upper surface 11a advances downward as shown in the white arrow in FIG. The direction of the white arrow is the traveling direction Y of the conveyor 1 (specifically, the belt upper surface 11a on which the product P is placed).

受枠用位置制御手段２は、コンベア１の上方域で躯体９へ固着した固定部２１に移動可能に係合する可動部２５を、受枠位置決め制御用アクチュエータ２６に接続してなる制御手段である(図２,図５)。可動部２５の進退動方向Ｘが平面視でコンベア１の進行方向Ｙと直交するように配設する。受枠用位置制御手段２は、コンベア１の前プーリ１３寄りで、コンベア１の上流側から下流側(図５でいえば、紙面上側から下側)に向けて第一位置制御手段２ａ、第二位置制御手段２ｂが並設される。図１〜図３のごとく二つの受枠用位置制御手段２を、躯体９の高台部位のメイン部９ａ側にあたる上板９７の下面側に取付けている。本実施形態は、受枠用位置制御手段２の位置制御用アクチュエータ２６としてサーボモータ(ＡＣサーボモータ)を採用する。サーボモータ２６に連結するボールねじによって送られるスライダの位置決めを行う受枠用位置制御手段である。主センサ８１から製品通過の検出信号を受けたコントローラからの位置指令により、スライダの送り量、すなわちサーボモータの回転を制御して位置決めを行う。本実施形態は、スライダが固定部２１として躯体９に固着される一方、サーボモータ２６とこれに連結するボールねじ側が可動部２５となり、製品Ｐを運ぶコンベアベルト１１の進行方向Ｙに直交させるようにして進退動する。通常の位置制御用サーボモータの使い方とは逆使いになっている。   The receiving frame position control means 2 is a control means formed by connecting a movable part 25 movably engaged with a fixed part 21 fixed to the housing 9 in the upper region of the conveyor 1 to an receiving frame positioning control actuator 26 ( Fig. 2 and Fig. 5). It arrange | positions so that the advancing / retreating direction X of the movable part 25 may be orthogonal to the advancing direction Y of the conveyor 1 by planar view. The receiving frame position control means 2 is a first position control means 2a, a second position control means 2a from the upstream side to the downstream side of the conveyor 1 (in FIG. 5, from the upper side to the lower side in the drawing) Position control means 2b is provided in parallel. As shown in FIGS. 1 to 3, the two receiving frame position control means 2 are attached to the lower surface side of the upper plate 97 corresponding to the main portion 9 a side of the elevated part of the housing 9. In this embodiment, a servo motor (AC servo motor) is employed as the position control actuator 26 of the receiving frame position control means 2. This is a receiving frame position control means for positioning the slider sent by a ball screw connected to the servo motor 26. Positioning is performed by controlling the feed amount of the slider, that is, the rotation of the servomotor, in accordance with a position command from the controller which has received a detection signal of product passage from the main sensor 81. In this embodiment, while the slider is fixed to the housing 9 as the fixed portion 21, the servo motor 26 and the ball screw side connected thereto become the movable portion 25 so as to be orthogonal to the traveling direction Y of the conveyor belt 11 carrying the product P. Then move forward and backward. This is the opposite of normal servo motors for position control.

受枠３は、前記可動部２５の各先端部分２５１に、可動部２５の進出方向へ向けて突設する製品捕捉枠体である。受枠３には、コンベア１の進行方向と対向する受面がある受部３１を有して、可動部２５の進退動方向に製品Ｐ用の個別スペース３０を複数連ねることのできる収容スペースＳが設けられる。
ここでは、製品Ｐがドレッシング等の円柱状体又はボトル状体で、製品底面の大きさに比し高さのある形状品である。受枠３は、板状受部３１の両端からコンベア１上流側へ向けて平面視コ字状に側板３２を延在して、コンベア上流側に製品Ｐの受け入れ口が設けられる(図５)。また受部３１は製品Ｐを複数個受け止める受面からコンベア１上流側へ向けて各個別スペース３０に区画化する仕切版３３が櫛歯状に延在する。底面の大きさに比し高さのある製品Ｐも転倒することなく、受枠３内に安定して集積させるためである。一つの受枠３には個別スペース３０が複数個(本実施形態は五個)設けられる。
受枠３は、その下縁がベルト上面１１ａや両敷板９５,９６と略同一水平面上とするも、若干浮き上がった状態にして、連結部材４を介して可動部２５に取付けられる。 The receiving frame 3 is a product capture frame which is provided to project in the advancing direction of the movable portion 25 at each end portion 251 of the movable portion 25. The receiving frame 3 has a receiving portion 31 having a receiving surface facing the traveling direction of the conveyor 1, and a receiving space S in which a plurality of individual spaces 30 for the product P can be connected in the advancing and retracting direction of the movable portion 25. Provided.
Here, the product P is a columnar body such as dressing or a bottle-shaped body, and is a shape product having a height higher than the size of the bottom surface of the product. The receiving frame 3 extends from the both ends of the plate-like receiving portion 31 toward the upstream side of the conveyor 1 in a U-shape in a plan view, and the receiving port for the product P is provided on the upstream side of the conveyor (FIG. 5). Moreover, the receiving part 31 extends in the comb-tooth shape by the partition plate 33 divided into each separate space 30 from the receiving surface which receives multiple products P toward the conveyor 1 upstream. It is for making the product P with height compared with the size of the bottom be stably accumulated in the receiving frame 3 without falling. A plurality of individual spaces 30 (five in the present embodiment) are provided in one receiving frame 3.
The receiving frame 3 is attached to the movable portion 25 through the connecting member 4 with its lower edge on the same horizontal plane as the belt upper surface 11a and the base plates 95 and 96 but in a slightly floating state.

連結部材４は受枠用位置制御手段２の可動部２５とその先端部分２５１に突設する受枠３とをつなぐ接続部材である。ここでは、第一位置制御手段２ａと第二位置制御手段２ｂの両連結部材４が共にＬ型片状材４ａと補強片４ｂとからなる。図２のごとく可動部２５に係る先端部分２５１の下面に、Ｌ型片状材４ａのＬ型片に係る起立部４２の上縁から延在する水平部４３を固着し、さらにＬ型片に係る下辺部４１の下面に、上縁を固着し起立垂下させた補強片４ｂを、受枠３の側板３２に固着する。
この連結部材４を介して、各可動部先端部分２５１に突設する受枠３は、可動部２５の進出でコンベア１のベルト１１上を横切ってベルト１１外へ出る(図２の受枠３)。一方、図２の受枠３の状態から可動部２５の後退で、受枠３はベルト１１を横切って受枠３の先端がベルト１１上に出ない位置まで引っ込めることができる(図５,図６に示すコンベア上流側の第一位置制御手段２ａに取付けた受枠３)。
そして、第一位置制御手段２ａの連結部材４にだけ立板片５１を取付ける。 The connecting member 4 is a connecting member for connecting the movable portion 25 of the receiving frame position control means 2 and the receiving frame 3 protruding from the tip end portion 251 thereof. Here, both connecting members 4 of the first position control means 2a and the second position control means 2b are both composed of an L-shaped piece 4a and a reinforcing piece 4b. A horizontal portion 43 extending from the upper edge of the rising portion 42 of the L-shaped piece 4a is fixed to the lower surface of the tip portion 251 of the movable portion 25 as shown in FIG. The reinforcing piece 4b, whose upper edge is fixed to the lower surface of the lower side portion 41, is fixed to the side plate 32 of the receiving frame 3.
Via the connecting member 4, receiving frame 3 to protrude to the movable tip portion 251 exits across the top of the belt 11 conveyor 1 in advance of the movable portion 25 to the belt 11 outside (receiving frame 3 in FIG. 2). On the other hand, in retreat of the movable portion 25 from the state of receiving frame 3 in FIG. 2, receiving frame 3 shows the tip of the receiving frame 3 across the belt 11 can be retracted to a position which does not appear on the belt 11 (FIG. 5, FIG. 6 Receiving frame 3 attached to the first position control means 2a on the upstream side of the conveyor.
Then, the upright plate piece 51 is attached only to the connection member 4 of the first position control means 2a.

立板片５１は第一位置制御手段２ａの連結部材４に、前記コンベア１の進行方向と平行にして起立一体化させて固着される平板片である。該立板片５１は、第一位置制御手段２ａの可動部２５を進出させ、これに取着するコンベア１上流側の受枠３をコンベア１外へ出して、製品Ｐがコンベア１下流側に位置する受枠３へと進む際(図７のカ〜図８のコ)、立板片５１が該コンベア１に係るベルト１１の側縁沿いに起立配設されるように、連結部材４の所定位置に固着される。立板片５１が二つ設けられるが、両立板片５１の距離をベルト１１の幅に合わす。符号５２は立板片５１を保形維持する補助片を示す。
ここで、「コンベア上流側の受枠３」や「コンベア上流側に位置する受枠３」は、第一位置制御手段２ａの可動部２５に連結部材４を介して取付けられる受枠３であり、以下、第一受枠３ａともいう。「コンベア下流側の受枠３」や「コンベア下流側に位置する受枠３」は、第二位置制御手段２ｂの可動部２５に連結部材４を介して取付けられる受枠３であり、以下、第二受枠３ｂともいう。「コンベア下流側」とは図５,図６でいえば、紙面下方の前プーリ１３側を指す。二つ並ぶ受枠３のうち、「コンベア下流側の受枠３」は第二受枠３ｂになる。立板片５１がコンベア１に係るベルト上面１１ａの側縁沿いに配されるようにすると、製品Ｐが第一受枠３ａをかわして第二受枠３ｂへと進む際、該製品Ｐを立板片５１がガードするようにできる。 The standing plate piece 51 is a flat plate piece that is fixed to the connecting member 4 of the first position control means 2a in a standing and integrated manner in parallel with the traveling direction of the conveyor 1. The standing plate piece 51 advances the movable portion 25 of the first position control means 2a, takes out the receiving frame 3 on the upstream side of the conveyor 1 attached thereto, and the product P is positioned on the downstream side of the conveyor 1. When moving to the receiving frame 3 (a key in FIG. 7 to a key 8 in FIG. 7), the predetermined position of the connecting member 4 is arranged so that the standing plate piece 51 is erected along the side edge of the belt 11 related to the conveyor 1 It is fixed to Two standing plate pieces 51 are provided, and the distance of the compatible plate pieces 51 is adjusted to the width of the belt 11. The reference numeral 52 indicates an auxiliary piece for maintaining the standing plate piece 51 in shape.
Here, "the receiving frame 3 on the upstream side of the conveyor" and "the receiving frame 3 located on the upstream side of the conveyor" are the receiving frame 3 attached to the movable portion 25 of the first position control means 2a via the connecting member 4. It is also called the first receiving frame 3a. The “receiving frame 3 on the downstream side of the conveyor” and the “receiving frame 3 positioned on the downstream side of the conveyor” are the receiving frames 3 that are attached to the movable portion 25 of the second position control means 2 b via the connecting member 4. It is also called 3b. The “conveyor downstream side” refers to the front pulley 13 side below the paper surface in FIGS. 5 and 6. Of the two receiving frames 3 arranged side by side, "the receiving frame 3 on the downstream side of the conveyor" is the second receiving frame 3b. When the standing plate piece 51 is arranged along the side edge of the belt upper surface 11a related to the conveyor 1, when the product P passes through the first receiving frame 3a and proceeds to the second receiving frame 3b, the product P is moved to the standing plate piece. 51 can be guarded.

主センサ８１は、受枠３の在るコンベア１地点よりもコンベア１の上流側領域で、コンベア１に載って受枠３へと進む製品Ｐが、該センサ前を通過するのを検出する検知器である。ここでの主センサ８１は、第一受枠３ａ,第二受枠３ｂに対応させて、それぞれが在るコンベア１地点よりもコンベア上流側領域の敷板９５上に、第一センサ８１ａ,第二センサ８１ｂを設置する。コンベア１の進行方向が紙面下方向の図５で説明すると、第一受枠３ａが在る紙面水平横方向よりも僅かにコンベア１上流側領域(紙面上方)に在る敷板９５上に第一センサ８１ａを設置し、第二受枠３ｂが在る紙面水平横方向よりも僅かにコンベア上流側領域に在る敷板９５上に第二センサ８１ｂを設置する。
第一センサ８１ａ,第二センサ８１ｂは、それぞれ第一位置制御手段２ａと第二位置制御手段２ｂの位置制御用アクチュエータ２６のコントローラに接続される。該コントローラが第一センサ８１ａや第二センサ８１ｂの製品通過信号に基づいて、図７〜図９のように第一受枠３ａ,第二受枠３ｂを位置決め制御する。 The main sensor 81 is a detector that detects that the product P that is placed on the conveyor 1 and proceeds to the receiving frame 3 passes in front of the sensor in the upstream region of the conveyor 1 from the conveyor 1 point where the receiving frame 3 exists. is there. The main sensor 81 here corresponds to the first receiving frame 3a and the second receiving frame 3b, and the first sensor 81a and the second sensor 81b are arranged on the floor plate 95 in the upstream region of the conveyor with respect to the conveyor one point. Is installed. When the traveling direction of the conveyor 1 is described below with reference to FIG. 5, the first sensor is placed on the floor plate 95 that is slightly upstream (upward on the sheet) of the conveyor 1 than the horizontal horizontal direction of the sheet on which the first receiving frame 3 a is present. 81a is installed, and the second sensor 81b is installed on the floor plate 95 that is slightly in the upstream region of the conveyor with respect to the horizontal horizontal direction on the paper surface on which the second receiving frame 3b is present.
The first sensor 81a and the second sensor 81b are connected to controllers of the position control actuator 26 of the first position control means 2a and the second position control means 2b, respectively. The controller controls the positioning of the first receiving frame 3a and the second receiving frame 3b as shown in FIGS. 7 to 9 based on the product passage signals of the first sensor 81a and the second sensor 81b.

次に、上記受枠用位置制御手段２,受枠３,主センサ８１等を備えた本製品集積装置の一集積方法と動作を説明する。
図７から図９は、スタートから製品Ｐを集積する作業が一巡する各ステップを、受枠３周りの平面図で簡略図示したもので、ベルト上面１１ａに載って製品Ｐが紙面右側から左方へ進行する。図示しない第一位置制御手段２ａ,第二位置制御手段２ｂは、それぞれ第一受枠３ａ,第二受枠３ｂの紙面下方側に位置する。図７の(ア)は、可動部２５を進出させてベルト１１外へ第二受枠３ｂを配する一方、第一受枠３ａにある先端の個別スペース３０がコンベア１上にくるように第一位置制御手段２ａの可動部２５を進出させた状態下で、製品Ｐが第一センサ８１ａ前を通過して先端の個別スペース３０に製品Ｐが収まった図を示す。コンベア１が連続運転中であるが、製品Ｐはベルト１１を滑った状態で第一受枠３ａに係止保持される。尚、先端の個別スペース３０たる先端個別スペース３０ａは、受枠３内の個別スペース３０のうち、該受枠３に連結する可動部２５から最も離れた位置にある個別スペース３０を指し(図９)、後端個別スペース３０ｂは、受枠３内の個別スペース３０のうち、該受枠３に連結する可動部２５に最も近い所にある個別スペース３０を指す(図８)。 Next, an accumulation method and operation of the present product accumulation device provided with the above-mentioned receiving frame position control means 2, receiving frame 3, main sensor 81 and the like will be described.
FIGS. 7 to 9 schematically show the steps of accumulating the product P from the start in a plan view around the receiving frame 3. The product P is placed on the belt upper surface 11a from the right side to the left side of the drawing. proceed. The first position control means 2a and the second position control means 2b (not shown) are located below the first receiving frame 3a and the second receiving frame 3b, respectively. 7A, the movable portion 25 is advanced to place the second receiving frame 3b outside the belt 11, while the individual space 30 at the tip of the first receiving frame 3a is on the conveyor 1 so that The figure which the product P passed the front of the 1st sensor 81a in the state which advanced the movable part 25 of the control means 2a, and the product P was settled in the individual space 30 of the front end is shown. Although the conveyor 1 is in continuous operation, the product P is locked and held by the first receiving frame 3 a in a state where the belt 11 is slipped. The tip individual space 30a as the tip individual space 30 refers to the individual space 30 in the position farthest from the movable portion 25 connected to the receiving frame 3 among the individual spaces 30 in the receiving frame 3 (FIG. 9), The rear end individual space 30b refers to the individual space 30 located closest to the movable portion 25 connected to the receiving frame 3 among the individual spaces 30 in the receiving frame 3 (FIG. 8).

本実施形態の製品集積装置を用いた集積方法は、各個別スペース３０に製品Ｐを二個ずつ二列になるように収納していくが、箱詰め仕様に合わせた一列であっても、また受枠３の側板３２,仕切版３３をコンベア１上流側に向け長くして、三列以上の複数列とすることもできる。第一センサ８１ａは第一受枠３ａの直前に設けられており、第一センサ８１ａによる前記製品二個の通過検出は、先端個別スペース３０に製品Ｐが満たされたのと略同等の取り扱いができ、その検出信号に基づき、第一位置制御手段２ａの位置制御用アクチュエータ２６が作動して、第一受枠３ａを図７(イ)の位置へと位置決め制御し、セットする。次の製品二個を、先端個別スペース３０の隣にある個別スペース３０に受け入れる
態勢をとる。この段階では、図７(イ)で描かれている隣にある個別スペース３０に製品二個は未だない。 The accumulation method using the product accumulation device of the present embodiment stores the product P in two rows in each individual space 30 in two rows, but even if it is a single row according to the boxing specification, the receiving frame The side plates 32 and the partition plates 33 may be elongated toward the upstream side of the conveyor 1 to form three or more rows. The first sensor 81a is provided immediately before the first receiving frame 3a, and the detection of the passage of the two products by the first sensor 81a can be handled in substantially the same manner as the product P is filled in the tip individual space 30. Based on the detection signal, the position control actuator 26 of the first position control means 2a is actuated to position and control the first receiving frame 3a to the position shown in FIG. The next two products are ready to be received in the individual space 30 next to the tip individual space 30. At this stage, there are not yet two products in the adjacent individual space 30 depicted in FIG.

その後、次の製品二個が隣にある個別スペース３０に入ったら(図７のイの状態)、第一センサ８１ａで該製品二個の通過検出がされており、この検出信号に基づき、第一位置制御手段２ａの位置制御用アクチュエータ２６が作動して、第一受枠３ａが図７(ウ)の位置へと移動する。空の個別スペース３０をベルト１１上に配して、新たな製品Ｐを二個受け入れる態勢をとる。斯かる動作を繰り返し(図７のウ〜オ)、第一センサ８１ａ(主センサ８１)による製品Ｐの通過検出に伴い、第一受枠３ａの各個別スペース３０がコンベア１(詳しくはベルト上面１１ａ)上に順次くるように可動部２５を進出させ、第一受枠３ａ内に製品Ｐを連ねるように集積して収容スペースＳを製品Ｐで満たす(図７のオ)。かくして、第一受枠３ａによる一番目の集積(製品十個がひとまとまりの集積)が完了する。本実施形態は、五個連なる製品Ｐが二列並ぶ計十個がひとまとまりの箱詰め用製品Ｐとして集積される。   After that, when the next two products enter the adjacent individual space 30 (the state of FIG. 7A), the first sensor 81a detects the passage of the two products, and based on this detection signal, The position control actuator 26 of the one-position control means 2a is actuated to move the first receiving frame 3a to the position shown in FIG. An empty individual space 30 is arranged on the belt 11 and is ready to receive two new products P. Such an operation is repeated (W-O in FIG. 7), and with the passage detection of the product P by the first sensor 81a (main sensor 81), each individual space 30 of the first receiving frame 3a is the conveyor 1 (more specifically, the belt upper surface 11a ) The movable portion 25 is advanced so as to sequentially come up, and the product P is accumulated in the first receiving frame 3a so as to be connected to fill the accommodation space S with the product P (e in FIG. 7). In this way, the first accumulation (collection of 10 products as a group) by the first receiving frame 3a is completed. In the present embodiment, a total of ten pieces of five products P arranged in a row are accumulated as one boxed product P.

次に、第一センサ８１ａによる第一受枠３ａ内の収容スペースＳを満たす前記製品Ｐが通過した検出信号に基づき、第一位置制御手段２ａの位置制御用アクチュエータ２６が作動して、第一受枠３ａを図７(カ)の位置へと位置決め制御すると同時に、第二位置制御手段２ｂの位置制御用アクチュエータ２６が作動して、第二受枠３ｂを図７(カ)の位置へと位置決め制御する。第一,第二受枠３ａ,３ｂが図７(カ)の位置に配されて、第二受枠３ｂへの製品Ｐの集積が始まる。この段階では、図７(カ)の第二受枠３ｂ内に未だ製品Ｐがない。   Next, the position control actuator 26 of the first position control means 2a is actuated based on the detection signal that the product P satisfying the accommodation space S in the first receiving frame 3a by the first sensor 81a has passed, and the first receiving frame At the same time, the position control actuator 26 of the second position control means 2b is actuated to control the positioning of the second receiving frame 3b to the position of FIG. 7 (f). . The first and second receiving frames 3a and 3b are arranged at the position shown in FIG. 7 (f), and the accumulation of the product P on the second receiving frame 3b starts. At this stage, there is still no product P in the second receiving frame 3b of FIG.

そして、第一位置制御手段２ａの可動部２５を進出させて第一受枠３ａを敷板９５上(コンベア１外)へ出した状態下、ベルト１１に載って運ばれてきた次の集積用製品Ｐは、第一受枠３ａをかわし、第二受枠３ｂの後端個別スペース３０ｂに入り込んで集積される(図７のカの状態)。そして、第二受枠３ｂへ入り込む直前で、第二センサ８１ｂによる製品二個の通過検出がされて、この検出信号に基づき、第二位置制御手段２ｂの位置制御用アクチュエータ２６が作動して、第二受枠３ｂを図７(キ)の位置へと位置決め制御し、その位置にセットする。後は、第二センサ８１ｂによる製品Ｐの通過検出に従い、第二位置制御手段２ｂの可動部２５を逐次退動させて、図７(イ)〜（オ)と同じような動作を繰り返す(図７のキ〜図８のコ)。第二センサ８１ｂによる製品Ｐの通過検出に伴い、第二受枠３ｂの各個別スペース３０がコンベア１上に順次くるように可動部２５を退動させ、第二受枠３ｂ内に製品Ｐが連なるように集積して収容スペースＳを製品Ｐで満たす(図８のコ)。第二受枠３ｂによる二番目の集積が完了する。 Then, the next stacking product P carried on the belt 11 under the state where the movable portion 25 of the first position control means 2a is advanced and the first receiving frame 3a is put out on the floor plate 95 (outside the conveyor 1). , Get into the rear end individual space 30b of the second receiving frame 3b by passing through the first receiving frame 3a and being accumulated (state of FIG. 7). Then, immediately before entering the second receiving frame 3b, the passage detection of the two products by the second sensor 81b is performed, and based on this detection signal, the position control actuator 26 of the second position control means 2b operates to The positioning frame 3b is controlled to the position shown in FIG. 7 (K) and set at that position. After that, the movable portion 25 of the second position control means 2b is sequentially retracted according to the passage detection of the product P by the second sensor 81b, and the same operation as in FIG. 7 (i) to (e) is repeated (figure Key 7 to 8 in Fig. 8 ). With the detection of the passage of the product P by the second sensor 81b, the movable portion 25 is retracted so that the individual spaces 30 of the second receiving frame 3b sequentially come on the conveyor 1, and the products P continue in the second receiving frame 3b The storage space S is filled with the product P (see FIG. 8 ). The second accumulation by the second receiving frame 3b is completed.

一方、第二受枠３ｂによる二番目の集積作業が進むなか(図７のカ〜図８のコ)、第一受枠３ａをコンベア１外へ出した図７(カ)の第一受枠３ａ内に集積された製品Ｐを、公知のロボットＲＴを使って箱詰めする。図１で、紙面垂直奥方へ走る搬送機Ｖで送り出される上面開口の段ボール箱ＣＢに箱詰めする。図７(カ)の状態になってから、ロボットＲＴがアーム部ＡＭ、ハンド部ＨＤを使って十個に集積された製品Ｐをまとめて取り出す。図７は、受枠３から十個集積の製品Ｐを掴んで取り出す作業が(カ)から(ク)までの３ステップの時間帯で行なわれ、箱詰めされるが、最大(カ)から図８(コ)の５ステップの時間帯をかけることもできる。この５ステップの時間の間は、第一受枠３ａとは別の第二受枠３ｂにて、製品Ｐの集積作業が連続して行なわれているからである。製品Ｐを進行させるコンベア１は止めずに連続運転できる。 On the other hand, while the second stacking operation by the second receiving frame 3b is proceeding (FIGS. 7 to 8 ), the first receiving frame 3a is taken out of the conveyor 1 into the first receiving frame 3a of FIG. The accumulated products P are boxed using a known robot RT. In FIG. 1, the container is packed in a cardboard box CB with a top opening, which is fed out by a conveyer V which runs vertically backward in the drawing. After the state shown in FIG. 7 (f) is reached, the robot RT uses the arm part AM and the hand part HD to collectively take out the ten products P. Fig. 7 shows the work of grasping and taking out the stacked product P from the receiving frame 3 in a three-step time zone from (f) to (f), and is boxed, but from the maximum (f) The time zone of 5 steps of コ) can also be hung. This is because the product P is continuously accumulated in the second receiving frame 3b different from the first receiving frame 3a during the time of these five steps. The conveyor 1 for advancing the product P can be operated continuously without stopping.

図８(コ)の後、第二センサ８１ｂによる第二受枠３ｂ内の収容スペースＳを満たす前記製品Ｐが通過した検出信号に基づき、第二位置制御手段２ｂの位置制御用アクチュエータ２６が作動して、第二受枠３ｂが図８(サ)の位置、すなわち敷板９６上へと動く。と同時に、第一位置制御手段２ａの位置制御用アクチュエータ２６が作動して、第一受枠３ａが図８(サ)のコンベア１の位置へと動く。第一,第二受枠３ｂが図８(サ)の位置に配されてから、第一受枠３ａへの製品Ｐの集積を始める。この段階では、図７(サ)の第一受枠３ａ内に未だ製品Ｐがない。
後は、図８(サ)〜（ソ)の各ステップが、図７(ア)〜(オ)と、第一,第二受枠３ｂの配置がベルト上面１１ａを中心線に線対称ごとくであり、同じような動作になる。第一センサ８１ａによる製品Ｐの通過検出に伴い、第一受枠３ａの各個別スペース３０がコンベア１上に順次くるように第一位置制御手段２ａの可動部２５を退動させ、該受枠３内に製品Ｐが連なるように集積する(図８のサ〜ソ)。第一枠による三番目の集積が完了する。第一受枠３ａの収容スペースＳを満たした後、該可動部２５を退動させて該受枠３をコンベア１外(敷板９６上)へ出す一方、第二受枠３ｂの先端にある個別スペース３０がコンベア１上にくるようにする(図８のタ)。一方、図８(サ)〜（ソ)(ここでは図８のサ〜ス)の製品集積時間内に、ロボットＲＴで第二受枠３ｂ内の集積製品Ｐを取出し、箱詰めを行う。 After (c) of FIG. 8, the position control actuator 26 of the second position control means 2 b operates based on the detection signal that the product P filling the accommodation space S in the second receiving frame 3 b passes by the second sensor 81 b. Thus, the second receiving frame 3b moves to the position shown in FIG. At the same time, the position control actuator 26 of the first position control means 2a is operated to move the first receiving frame 3a to the position of the conveyor 1 in FIG. After the first and second receiving frames 3b are arranged at the position shown in FIG. 8 (sa), accumulation of the product P on the first receiving frame 3a is started. At this stage, there is still no product P in the first receiving frame 3a of FIG.
After that, the steps of FIGS. 8 (a) to (so) are as shown in FIGS. 7 (a) to (e), and the arrangement of the first and second receiving frames 3b is symmetrical with respect to the belt upper surface 11a as the center line. , Will be similar behavior. With the passage detection of the product P by the first sensor 81 a, the movable portion 25 of the first position control means 2 a is retracted so that the individual spaces 30 of the first receiving frame 3 a sequentially come on the conveyor 1. The products P are accumulated so as to be connected to each other (Sa-So in FIG. 8). The third accumulation in the first frame is completed. After filling the storage space S of the first receiving frame 3a, the movable portion 25 is retracted to take out the receiving frame 3 out of the conveyor 1 (on the floor plate 96), while the individual space 30 at the tip of the second receiving frame 3b is It is placed on the conveyor 1 (T of FIG. 8). On the other hand, the integrated product P in the second receiving frame 3b is taken out and boxed by the robot RT within the product integration time shown in FIGS. 8 (S) to (SO) (here, FIG. 8).

その後の図８(タ)〜図９(ト)のステップは、図７(カ)〜(コ)と、第一,第二受枠３ｂの配置がベルト上面１１ａを中心線に線対称ごとくであり、同じような動きになる。第二センサ８１ｂによる製品Ｐの通過検出に伴い、第二受枠３ｂの各個別スペース３０がコンベア１上に順次くるように第二位置制御手段２ｂの可動部２５を進出させ、該受枠３内に製品Ｐが連なるように集積していく(図８のタ〜ト)。第二受枠３ｂによる四番目の集積が完了する。第二受枠３ｂの収容スペースＳを満たした後、該可動部２５を進出させて該受枠３をコンベア１外(敷板９５上)へ出し、また第一受枠３ａの先端にある個別スペース３０がコンベア１上にくるようにする(図９のナ)。一方、図８(タ)〜図９(ト)(ここでは図８,図９のタ〜ツ)の集積時間内に、ロボットＲＴで第二受枠３ｂ内に集積された製品Ｐを取出し、箱詰めを行う。図９(ナ)の第一受枠３ａ,第二受枠３ｂの配置が図７(ア)と同じになる。ベルト上面１１ａを挟んでその両外側での製品の取出し、すなわち第一受枠３ａの製品取出し(図７のカと図８のタ)と、第二受枠３ｂの製品取出し(図８のサと図９のナ)とが終了し、製品Ｐを集積する作業が一巡する。後はこれらの各ステップを繰り返す。
こうして、受枠３付き第一位置制御手段２ａ,受枠３付き第二制御手段を並設させることで、ロボットＲＴによる受枠３内の集積製品Ｐの取出し中も、製品集積作業を連続的に続けることができるようになっている。 The subsequent steps of FIGS. 8 (A) to 9 (G) are the same as FIGS. 7 (F) to (G), and the arrangement of the first and second receiving frames 3b is symmetrical with respect to the belt upper surface 11a. It will be similar movement. With the detection of the passage of the product P by the second sensor 81 b, the movable portion 25 of the second position control means 2 b is advanced so that the individual spaces 30 of the second receiving frame 3 b are sequentially placed on the conveyor 1. The products P are accumulated so as to be continuous (the timing in FIG. 8). The fourth accumulation by the second receiving frame 3b is completed. After the accommodation space S of the second receiving frame 3b is filled, the movable portion 25 is advanced to take the receiving frame 3 out of the conveyor 1 (on the floor plate 95), and the individual space 30 at the tip of the first receiving frame 3a is a conveyor. Make it to be on top 1 (n in FIG. 9). On the other hand, the robot RT takes out the product P accumulated in the second receiving frame 3b within the accumulation time of FIG. 8 (T) to FIG. 9 (T) (here, the timing of FIG. 8 and FIG. I do. The arrangement of the first receiving frame 3a and the second receiving frame 3b in FIG. 9 (na) is the same as in FIG. 7 (a). The product removal on both sides of the belt upper surface 11a, that is, the product removal of the first receiving frame 3a (FIG. 7 and FIG. 8) and the product removal of the second receiving frame 3b (FIG. 8) 9) and the work of accumulating the product P goes through. After that, repeat each of these steps.
In this way, by arranging the first position control means 2a with the receiving frame 3 and the second control means with the receiving frame 3 in parallel, the product accumulation operation is continued even while the integrated product P in the receiving frame 3 is being taken out by the robot RT. It is possible to

本実施形態は、さらにストッパ手段７と補助センサ８２とガイド手段６とを備えて、より円滑な製品Ｐの集積を目指す。
ストッパ手段７は、第一受枠３ａよりもさらにコンベア１の上流側に位置する領域の躯体９に、補助アクチュエータの基部７１を固定し、基部７１から進退動可能な可動体７２の先端にストッパ部材７５を取着してなる製品進行制止具である。ここでは、第一受枠３ａよりも上流側のコンベア１近くに在る躯体９にエアシリンダの基部７１を固定し、該基部７１から伸長可能なロッド７２の先端に、図５のような方形体のストッパ部材７５を固着する。ストッパ部材７５は図４のごとくベルト上面１１ａから僅かに浮く状態に配される。
補助センサ８２は、ストッパ部材７５の地点よりもコンベア１の上流側に位置する領域で、コンベア１に載って該受枠３へと進む製品Ｐが、該センサ前を通過するのを検出する検出器である。第一位置制御手段２ａの可動部２５を退動させ、第一受枠３ａをかわして、第二受枠３ｂ内の各個別スペース３０がコンベア１上に順次くるようにして、第二受枠３ｂ内に製品Ｐを集積させ、該受枠３の収容スペースＳを満たす製品Ｐの個数を補助センサ８２がカウント検出することで、補助アクチュエータの可動体７２が進出する(図９のト)。 The present embodiment further includes stopper means 7, auxiliary sensor 82, and guide means 6 to aim for smoother accumulation of product P.
The stopper means 7 fixes the base 71 of the auxiliary actuator to the housing 9 of the area located on the upstream side of the conveyor 1 further than the first receiving frame 3a, and stops the stopper member at the tip of the movable body 72 movable back and forth from the base 71 It is a product progress stop which comes with 75 attached. Here, a base 71 of an air cylinder is fixed to a casing 9 near the conveyor 1 on the upstream side of the first receiving frame 3a, and a rectangular body as shown in FIG. 5 is attached to the tip of a rod 72 that can extend from the base 71. The stopper member 75 is fixed. The stopper member 75 is arranged so as to slightly float from the belt upper surface 11a as shown in FIG.
The auxiliary sensor 82 is a detector that detects that a product P placed on the conveyor 1 and advancing to the receiving frame 3 passes in front of the sensor in a region located upstream of the conveyor 1 than the point of the stopper members 75 It is. The movable portion 25 of the first position control means 2a is retreated to displace the first receiving frame 3a, and the individual spaces 30 in the second receiving frame 3b sequentially come on the conveyor 1, and then in the second receiving frame 3b. The product P is accumulated, and the auxiliary sensor 82 counts and detects the number of products P that satisfy the accommodation space S of the receiving frame 3 so that the movable body 72 of the auxiliary actuator advances (G in FIG. 9).

例えば、図９(ト)の状態、いいかえれば第二受枠３ｂによる集積完了後、第二受枠３ｂをコンベア１外へ出し(図９のナ)、第一位置制御手段２ａの位置制御用アクチュエータ２６が作動して、第一受枠３ａが図９(ナ)の位置に配されて、第一受枠３ａへの製品Ｐの集積を始めるが、主センサ８１だけでは、不具合が生じる虞がある。この段階では、図９(ナ)の第一受枠３ａ内に未だ製品Ｐがなく、第一受枠３ａが図９(ナ)の位置に配されるタイミングが遅れると、ベルト１１に載った製品Ｐが、図５の製品Ｐのうち、紙面最下方の製品Ｐのごとく第一受枠３ａに入らずに、第一受枠３ａ外に進んでしまう不具合を生じる。この問題を解消すべく、第二受枠３ｂの収容スペースＳを満たす個数の製品Ｐが通過したのを補助センサ８２が検出して、補助アクチュエータの可動体７２を進出させる。そして、ストッパ部材７５をコンベア１上に配させて、第一受枠３ａの先端にある個別スペース３０がコンベア１上へくるまで(図９のナ)、コンベア１に載って受枠３へと進む製品Ｐの進行を遮る。コンベア１を連続運転で動かしたまま、ストッパ部材７５がコンベア１上で製品Ｐの進行だけを制止し(図６)、第一受枠３ａが図９(ナ)の状態、すなわち受枠３の先端個別スペース３０ａがコンベア１上へセットされるのを待って、可動体７２たるロッドを退動させる。こうして、製品Ｐが第一受枠３ａ外に進んでしまう不具合を解消する。符号Ｋはエアシリンダの基部７１とはベルト１１を挟んで反対側の敷板９５に固着した当て部材で、可動体７２の進出時に、ストッパ部材７５を該当て部材Ｋに当接させる。万一、ロッド７２の進出が遅れた場合でも、ストッパ部材７５が当て部材Ｋとで製品Ｐを挟んで、コンベア１に載って該受枠３へと進む製品Ｐの進行を確実に制止するようにしている。   For example, after completion of stacking by the second receiving frame 3b, the second receiving frame 3b is taken out of the conveyor 1 (N in FIG. 9), and the position control actuator 26 of the first position control means 2a The first receiving frame 3a is arranged at the position of FIG. 9 (na) and the product P is accumulated on the first receiving frame 3a. However, the main sensor 81 alone may cause a problem. At this stage, if the product P is not yet in the first receiving frame 3a in FIG. 9 (na) and the timing at which the first receiving frame 3a is arranged at the position in FIG. 9 (n) is delayed, the product P placed on the belt 11 is delayed. However, the product P of FIG. 5 does not enter the first receiving frame 3a like the product P in the lowermost part of the drawing, and causes a problem of proceeding to the outside of the first receiving frame 3a. In order to solve this problem, the auxiliary sensor 82 detects that the number of products P satisfying the accommodation space S of the second receiving frame 3b has passed, and the movable body 72 of the auxiliary actuator is advanced. Then, the stopper member 75 is disposed on the conveyor 1, and the product placed on the conveyor 1 and advanced to the receiving frame 3 until the individual space 30 at the end of the first receiving frame 3a comes on the conveyor 1 (n in FIG. 9) Block the progression of P. While moving the conveyor 1 in continuous operation, the stopper member 75 only stops the progress of the product P on the conveyor 1 (FIG. 6), and the first receiving frame 3a is in the state of FIG. Waiting for the space 30a to be set on the conveyor 1, the rod as the movable body 72 is moved backward. Thus, the problem that the product P moves out of the first receiving frame 3a is solved. The reference symbol K is a contact member fixed to the bottom plate 95 on the opposite side of the belt 11 with the base 71 of the air cylinder. When the movable body 72 advances, the stopper member 75 is brought into contact with the member K. Even if the advancement of the rod 72 is delayed, the stopper member 75 sandwiches the product P with the backing member K, and reliably stops the progress of the product P which is placed on the conveyor 1 and advances to the receiving frame 3 ing.

また、図８(コ)のごとく第一位置制御手段２ａの可動部２５を進出させ、第一受枠３ａをかわして、第二受枠３ｂ内の各個別スペース３０がコンベア１上に順次くるようにして、第二受枠３ｂ内に製品Ｐを集積させ、該受枠３の収容スペースＳを満たす製品Ｐの個数を補助センサ８２が検出することで、補助アクチュエータの可動体７２が進出する。図８(コ)の状態、いいかえれば第二受枠３ｂによる集積完了後、第二受枠３ｂをコンベア１外(敷板９６上)へ出し(図８のサ)、第一位置制御手段２ａの位置制御用アクチュエータ２６が作動して、第一受枠３ａを図８(サ)の位置に配して、第一受枠３ａへの製品Ｐの集積を始めるのであるが、主センサ８１だけでは間に合わない場合がある。図５と同じようにベルト１１に載った製品Ｐが第一受枠３ａ外に進んでしまうのを解消すべく、コンベア１上流側地点で、第二受枠３ｂの収容スペースＳを満たす製品個数が通過したのを補助センサ８２が検出して、ストッパ手段の可動体７２を進出させる。ストッパ部材７５をコンベア１上に配して、第一受枠３ａの後端個別スペース３０ｂがコンベア１上へくるまで(図８のサ)、コンベア１に載って受枠３へと進む製品Ｐの進行を止める。製品Ｐが第一受枠３ａに入り込まなくなる不具合発生を未然防止する。
さらにいえば、図８(コ),図９(ト)だけでなく、図７(オ),図８(ソ)で、第一受枠３ａ内に製品Ｐを集積させ、該受枠３の収容スペースＳを満たす製品Ｐの個数を補助センサ８２が検出することで、補助アクチュエータの可動体７２が進出し、ストッパ部材７５をコンベア１上に配して、第二受枠３ｂの先端又は後端にある個別スペース３０がコンベア１上へくるまで、コンベア１に載って該受枠３へと進む製品Ｐの進行を遮るようにすれば、より万全な製品集積を行うことができ、一層好ましくなる。 Also, move the movable part 25 of the first position control means 2a to advance as shown in FIG. 8 (k) so that the individual spaces 30 in the second receiving frame 3b sequentially come on the conveyor 1 by displacing the first receiving frame 3a. Thus, the product P is accumulated in the second receiving frame 3b, and the auxiliary sensor 82 detects the number of products P that satisfy the receiving space S of the receiving frame 3, whereby the movable body 72 of the auxiliary actuator advances. In the state of FIG. 8 (ko), in other words, after completion of the accumulation by the second receiving frame 3b, the second receiving frame 3b is taken out of the conveyor 1 (on the floor plate 96) (FIG. 8C), and the position control of the first position control means 2a is performed. The actuator 26 is activated to place the first receiving frame 3a at the position shown in FIG. 8 (sa), and start accumulating the product P on the first receiving frame 3a. is there. As in FIG. 5, the number of products satisfying the accommodation space S of the second receiving frame 3b passes at the upstream side point of the conveyor 1 so as to eliminate the product P placed on the belt 11 from moving out of the first receiving frame 3a. The auxiliary sensor 82 detects this and advances the movable body 72 of the stopper means. The stopper member 75 is disposed on the conveyor 1, and the advancing of the product P on the conveyor 1 and advancing to the receiving frame 3 until the rear end individual space 30b of the first receiving frame 3a comes to the top of the conveyor 1 (the support in FIG. 8) Stop. It prevents in advance the trouble that the product P does not get in the first receiving frame 3a.
Further, not only in FIGS. 8 (A) and 9 (G), but also in FIGS. 7 (O) and 8 (G), the product P is accumulated in the first receiving frame 3a and the receiving space of the receiving frame 3 is stored. As the auxiliary sensor 82 detects the number of products P satisfying S, the movable body 72 of the auxiliary actuator advances, and the stopper member 75 is disposed on the conveyor 1 and is at the front end or rear end of the second receiving frame 3b. If the progress of the product P that is placed on the conveyor 1 and proceeds to the receiving frame 3 is blocked until the individual space 30 is on the conveyor 1, more complete product accumulation can be performed, which is more preferable.

ガイド手段６は、第一位置制御手段２ａの固定部２１に対し、ベルト１１を挟んで反対側の領域に在る躯体部位９ｂに、副アクチュエータ６の本体部６１を固定し、該本体部６１から伸長可能なロッド６２の先端に、コンベア１進行方向に沿うガイド部材６５を取着した製品ガード具である(図１,図５)。コンベア１上流側に位置する可動部２５を後退させ、該可動部２５に突設する第一受枠３ａをかわして、第二受枠３ｂの各個別スペース３０が順次コンベア１上にくるようにした時、該ロッド６２を伸長させて、コンベア１側へ進出したガイド部材６５が該コンベア１のベルト１１の側縁沿いに配されるようにする(図５の鎖線)。斯かる構成により、ベルト上面１１ａに載って第二受枠３ｂへ進行する製品Ｐは、第一受枠３ａをかわして通過する際、ガイド部材６５によってうまくガードされる。具体的には、図８(タ)〜(ト)の各ステップ中で、ガイド部材６５が道路のガードレールのごとく、ベルト上面１１ａに載って受枠３へと向かう製品Ｐの逸脱を防ぐ。図５で、図面左側のコンベア沿いをガイド部材６５がガードするが、図面右側のコンベア沿いは第一受枠の側板３２がガードする。
ちなみに、第一受枠３ａを進出させ、これをかわして第二受枠３ｂの各個別スペース３０が順次コンベア１上にくるようにした時、具体的には図７(カ)〜図８(コ)の各ステップ中は、ベルト上面１１ａの側縁沿いに配される前記立板片５１が、ベルト上面１１ａに載って受枠３へと向かう製品Ｐの逸脱を防ぐようになっている。尚、受枠３,ガイド手段６,ストッパ手段７、さらに後述するプッシャー手段Ｍ,受部材Ｎの領域から外れるベルト上面１１ａの両側縁沿いには、進行する製品Ｐが不用意に転倒したりベルトから落ちたりしないようガードするガードレールＧＤが取付けられている(図１０参照)。図中、符号ＧＬは床面を示す。 The guide means 6 fixes the main body portion 61 of the sub-actuator 6 to the housing part 9b in the region opposite to the fixing portion 21 of the first position control means 2a with the belt 11 in between. This is a product guard device in which a guide member 65 is attached along the direction of travel of the conveyor 1 to the tip of a rod 62 that can be extended from (FIGS. 1 and 5). When the movable part 25 located on the upstream side of the conveyor 1 is moved backward, the first receiving frame 3a protruding from the movable part 25 is displaced, and the individual spaces 30 of the second receiving frame 3b are sequentially placed on the conveyor 1 The rod 62 is extended so that the guide member 65 advanced to the conveyor 1 side is arranged along the side edge of the belt 11 of the conveyor 1 (dashed line in FIG. 5). With such a configuration, the product P that travels to the second receiving frame 3b on the belt upper surface 11a is well guarded by the guide member 65 when passing through the first receiving frame 3a. Specifically, in each step of FIGS. 8 (a) to 8 (g), the guide member 65 prevents the product P from moving toward the receiving frame 3 on the belt upper surface 11a like a guard rail on the road. In FIG. 5, the guide member 65 guards along the conveyor on the left side of the drawing, but the side plate 32 of the first receiving frame guards along the conveyor on the right side of the drawing.
By the way, when the first receiving frame 3a is advanced and the individual spaces 30 of the second receiving frame 3b are sequentially placed on the conveyor 1, specifically, FIG. 7 (f) to FIG. 8 (ko). During each step of the above, the upright plate piece 51 disposed along the side edge of the belt upper surface 11a is designed to prevent the deviation of the product P which is placed on the belt upper surface 11a and directed to the receiving frame 3. Incidentally, along the both side edges of the belt upper surface 11a that is out of the area of the receiving frame 3, the guide means 6, the stopper means 7, and the pusher means M and receiving member N described later, the advancing product P falls down accidentally or from the belt. A guard rail GD that guards against falling is attached (see FIG. 10). In the figure, the code | symbol GL shows a floor surface.

（２）実施形態２
本実施形態は、実施形態１の前記ストッパ手段７よりもコンベア１の上流側に位置する領域の躯体９に、図１０〜１９ごとくのプッシャー手段Ｍと受部材Ｎと、受部材の位置制御手段Ｊと停止部材Ｔとを配設し、図１〜図９に示した製品集積装置とは別仕様の製品集積を可能にする装置を追加する。図１０はプッシャー手段と受部材の位置制御手段周りの概略平面図、図１１は図１０の概略正面図、図１２〜図１９は図１０,図１１の状態から製品を集積する動作を表す説明図である。 (2) Embodiment 2
In this embodiment, the pusher means M, the receiving member N as shown in FIGS. 10 to 19 and the position control means of the receiving member are provided on the casing 9 in a region located on the upstream side of the conveyor 1 than the stopper means 7 of the first embodiment. J and a stop member T are provided, and an apparatus is added which enables product accumulation of a specification different from that of the product accumulation apparatus shown in FIGS. 10 is a schematic plan view around the position control means of the pusher means and the receiving member, FIG. 11 is a schematic front view of FIG. 10, and FIGS. 12 to 19 are explanatory drawings showing an operation of accumulating products from the state of FIG. FIG.

プッシャー手段Ｍは、図１０,図１１のごとく基板９２上に固着した嵩上げ台９４に、プッシャーアクチュエータの主部Ｍ１を固定し、該主部Ｍ１から進退動方向がベルト１１の進行方向と直交する可動部材Ｍ２の先端にプッシャー部材Ｍ５を取付けた機器である。プッシャー部材Ｍ５は、前面板部Ｍ５ａが該ベルト１１の上面よりも高い位置で且つベルト進行方向に沿って起立し、さらに前面板部Ｍ５ａのコンベア上流側の側縁が図１０のごとく主部側に向けて平面視逆Ｌ字状に屈折し、ベルト幅の側面板部Ｍ５ｂが延在する板片部材になっている。
可動部材Ｍ２の進退動幅をベルト１１の幅に合わす。詳しくは、エアシリンダ本体からなる主部Ｍ１から可動部材Ｍ２のロッドが進出すると、図１２のごとく前面板部Ｍ５ａがベルト１１を横切り、受部材の位置制御手段Ｊがある敷板９５近くに達する一方、ロッドＭ２が後退すると、図１０のように前面板部Ｍ５ａがベルト１１沿いに待機する。 The pusher means M fixes the main portion M1 of the pusher actuator to the raising base 94 fixed on the substrate 92 as shown in FIGS. 10 and 11, and the advancing / retreating direction from the main portion M1 is orthogonal to the traveling direction of the belt 11. It is the apparatus which attached the pusher member M5 to the front-end | tip of the movable member M2. In the pusher member M5, the front plate portion M5a stands up along the belt traveling direction at a position higher than the upper surface of the belt 11, and the side edge of the front plate portion M5a on the conveyor upstream side is the main portion side as shown in FIG. A plate piece member that is refracted in an inverted L shape in plan view and extends with a side plate portion M5b having a belt width.
The moving width of the movable member M2 is adjusted to the width of the belt 11. Specifically, when the rod of the movable member M2 advances from the main portion M1 formed of the air cylinder main body, the front plate portion M5a crosses the belt 11 and reaches the vicinity of the floor plate 95 where the receiving member position control means J is located as shown in FIG. When the rod M2 moves backward, the front plate portion M5a stands by along the belt 11 as shown in FIG.

受部材の位置制御手段Ｊは、固定主部Ｊ１と可動子Ｊ５と受部材の位置決め制御用アクチュエータＪ６とを備える。固定主部Ｊ１は、ベルト１１を挟んで、前記プッシャーアクチュエータの主部Ｍ１に対向するようにして躯体９に固着される。図１１のように敷板９５に吊設された吊板９８に、受部材の位置決め制御用アクチュエータＪ６の固定主部Ｊ１が取付けられる。受部材の位置決め制御用アクチュエータＪ６としてサーボモータ(ＡＣサーボモータ)を採用する。サーボモータに連結するボールねじによって送られるスライダの位置決めが行なわれる受部材用制御手段である。可動部材Ｍ２の進出信号を受けたコントローラからの位置指令により、スライダの送り量、すなわちサーボモータの回転を制御して受部材Ｎの位置決めを行う。本実施形態は、サーボモータとこれに連結するボールねじ側が固定主部Ｊ１となり躯体９に固着される一方、スライダが可動子Ｊ５になって、製品Ｐを運ぶコンベアベルト１１の進行方向Ｙに直交させるようにして、進退動する。   The position control means J of the receiving member includes the fixed main portion J1, the mover J5, and the positioning control actuator J6 of the receiving member. The fixing main portion J1 is fixed to the housing 9 so as to face the main portion M1 of the pusher actuator with the belt 11 interposed therebetween. The fixing main portion J1 of the positioning control actuator J6 of the receiving member is attached to the hanging plate 98 suspended from the bottom plate 95 as shown in FIG. A servomotor (AC servomotor) is employed as the receiving member positioning control actuator J6. It is a receiving member control means for positioning a slider sent by a ball screw connected to a servo motor. The position of the receiving member N is controlled by controlling the feed amount of the slider, that is, the rotation of the servomotor, in accordance with the position command from the controller which receives the advancing signal of the movable member M2. In this embodiment, the servomotor and the ball screw side connected thereto are fixed main part J1 and fixed to the housing 9, while the slider becomes movable element J5 and is orthogonal to the traveling direction Y of the conveyor belt 11 carrying the product P. To move forward and backward.

受部材Ｎは、前記可動子Ｊ５に、その進出方向へ向けて突設させ、前面板部Ｍ５ａに対向する受面を備えた当て部材である。敷板９５は、受部材の位置制御手段Ｊが配された領域が矩形板の分離敷板９５１となって、図１０のごとく他の敷板９５と切り離されている。受部材Ｎの両側が分離敷板９５１を跨いで接続部材Ｊ７に支持され、該接続部材Ｊ７が接続補助部材Ｊ８を介して前記可動子Ｊ５に連結する。   The receiving member N is a contact member provided with a receiving surface that projects from the movable element J5 in the advance direction and faces the front plate portion M5a. The area in which the position control means J of the receiving member is arranged is a rectangular separation sheet 951, and the floor sheet 95 is separated from other floor sheets 95 as shown in FIG. Both sides of the receiving member N are supported by the connecting member J7 across the separating floor plate 951, and the connecting member J7 is connected to the movable element J5 via the connecting auxiliary member J8.

停止部材Ｔは、前面板部Ｍ５ａよりもコンベア１の下流域で且つベルト１１の上方に配設され、ベルト１１に載って進行する製品Ｐに当接し、製品Ｐを停止させる製品進行制止部材である。ここでは、図１０のごとく嵩上げ台９４にエアシリンダ本体を取付け、ロッドを伸長させてロッド先端に固着した停止部材Ｔがベルト上面１１ａから僅かに浮く状態に配される。該停止部材Ｔは前記ストッパ手段７のストッパ部材７５に担わせることもできる。
本実施形態の符号Ｐも製品を示すが、実施形態１のものよりも大きなボトル形状品とする。符号９９は分離敷板９５１の上流側と下流側の両側縁部位を一段高くする堰で、本実施形態は、両堰９９の幅を、図１１〜図１２のごとくベルトに製品が四個載る幅に合わせて分離敷板９５１にセット固定している。下流側の堰９９に係る上流側の側壁面と停止部材Ｔが製品Ｐに当接する面とは略同一面上にし、且つベルト進行方向に対し直交する鉛直面とする(図１０)。 The stop member T is a product progress stop member that is disposed downstream of the conveyor 1 and above the belt 11 relative to the front plate portion M5a, contacts the product P that travels on the belt 11, and stops the product P. is there. Here, as shown in FIG. 10, the air cylinder main body is attached to the raising platform 94, the rod is extended, and the stop member T fixed to the end of the rod is arranged in a slightly floating state from the belt upper surface 11a. The stop member T can be carried by the stopper member 75 of the stopper means 7.
Although the code | symbol P of this embodiment also shows a product, let it be a bottle-shaped product larger than the thing of Embodiment 1. FIG. Reference numeral 99 is a weir that raises both the upstream and downstream side edge portions of the separating floor plate 951 by one step, and in this embodiment, the width of both weirs 99 is the width on which four products are placed on the belt as shown in FIGS. Set on the separation base plate 951 according to The upstream side wall surface related to the downstream weir 99 and the surface on which the stop member T abuts on the product P are substantially on the same plane and are perpendicular to the belt traveling direction (FIG. 10).

次に、プッシャー手段Ｍ,受部材Ｎ等を備える図１０〜図１９に示す製品集積装置を用いた一集積方法と動作を説明する。ここでは、一列に製品が四個並んだものを図１８のごとく五列分まとめ、計二十個がひとまとまりの箱詰め製品用として集積する。   Next, one stacking method and operation using the product stacking device shown in FIGS. 10 to 19 including the pusher means M, the receiving member N and the like will be described. Here, four products arranged in one row are grouped into five rows as shown in FIG. 18, and a total of twenty products are collected for a single boxed product.

まず、プッシャーアクチュエータの可動部材Ｍ２を後退させ、前面板部Ｍ５ａを敷板９６側のベルト１１沿いに起立させると共に、受部材の位置制御手段ＪのアクチュエータＪ６を作動し可動子Ｊ５を進出させ、受部材Ｎを分離敷板９５１側のベルト１１沿いにセットする(図１０,図１１)。これと相前後して、嵩上げ台９４に取付けたエアシリンダのロッドを伸長させ、ロッド先端に固着した停止部材Ｔをベルト１１上に浮く状態で配する。斯かる状態にして、コンベア１を起動させ、ベルト１１に製品Ｐを載せて、図１０の白抜き矢印のごとく停止部材Ｔへ向けて進行させる。   First, the movable member M2 of the pusher actuator is retracted to raise the front plate portion M5a along the belt 11 on the bottom plate 96, and the actuator J6 of the position control means J of the receiving member is operated to advance the mover J5. The member N is set along the belt 11 on the separation floor 951 side (FIGS. 10 and 11). Before and after this, the rod of the air cylinder attached to the raising base 94 is extended, and the stop member T fixed to the tip of the rod is arranged in a state of floating on the belt 11. In such a state, the conveyor 1 is started, the product P is placed on the belt 11, and is advanced toward the stop member T as indicated by the white arrow in FIG.

その後、停止部材Ｔによって、ベルト１１が動いたままで製品Ｐが制止され、順次送り込まれる製品Ｐが一列分の四個溜まる(図１０,図１１)。製品Ｐが一列分の四個溜まると、図示しないセンサが検出して、その検出信号がコントローラへ送られる。プッシャー手段Ｍと受部材の位置制御手段Ｊはコントローラに接続しており、該検出信号に基づき、プッシャー手段ＭのロッドＭ２が伸長すると共に、コントローラからの位置指令によりサーボモータＪ６が回転制御され、受部材Ｎに連結する可動子Ｊ５を製品Ｐ一個分だけ後退させる。ロッドＭ２の進出に合わせて、受部材の位置制御手段Ｊの可動子Ｊ５を後退させ、停止部材Ｔに停止させられていた製品Ｐを、敷板９５上へ移動させる(図１２,図１３)。
ベルト１１上にあった製品一列分の四個が図１２のごとくベルト１１上から分離敷板９５１上に移動する。
前記分離敷板９５１上に製品が移動する間も、ベルト１１に載った製品Ｐが停止部材Ｔへ向けて進行するが、該製品Ｐはプッシャー部材Ｍの側面板部Ｍ５ｂで制止される(図１２)。 Thereafter, the product P is stopped by the stop member T while the belt 11 is moving, and four products P to be sequentially fed are accumulated for one row (FIGS. 10 and 11). When four products P for one row are collected, a sensor (not shown) detects the signal and sends a detection signal to the controller. The pusher means M and the position control means J of the receiving member are connected to a controller. Based on the detection signal, the rod M2 of the pusher means M extends, and the servo motor J6 is rotationally controlled by a position command from the controller. The mover J5 connected to the receiving member N is retracted by one product P. In accordance with the advancement of the rod M2, the mover J5 of the position control means J of the receiving member is retracted, and the product P which has been stopped by the stop member T is moved onto the floor plate 95 (FIG. 12, FIG. 13).
Four products for one line on the belt 11 move from the belt 11 onto the separating floor plate 951 as shown in FIG.
While the product moves on the separating floor plate 951, the product P placed on the belt 11 advances toward the stop member T, but the product P is restrained by the side plate portion M5b of the pusher member M (FIG. 12). ).

次に、図１４のごとくプッシャー手段ＭのロッドＭ２を後退させ、図１０と同じように、前面板部Ｍ５ａを敷板９６側のベルト沿いに起立させる。図１２で側面板部Ｍ５ｂに制止されていた製品Ｐは、図１０に示すガードレールＧＤによって該側面板部Ｍ５ｂから放たれた後、ベルト１１に載って停止部材Ｔの所まで進行しそこで停止する。その後も、ベルト１１に載った製品が図１６の白抜き矢印のごとく、停止部材Ｔへ向けて進行し、新たに一列分の四個の製品Ｐが停止部材Ｔに溜まる。
製品Ｐが一列分の四個溜まると、後は前述内容と同じく、図示しないセンサが検出して、プッシャー手段ＭのロッドＭ２が伸長すると共に、コントローラからの位置指令によりサーボモータが回転制御され、受部材Ｎに連結する可動子Ｊ５を製品一個分の距離だけ後退させる。ロッドの伸長による可動部材Ｍ２の進出に合わせて、受部材の位置制御手段Ｊの可動子Ｊ５を順次後退させ、該停止部材Ｔに停止させられた前記製品Ｐを、敷板９５上へ移動させて集積する。最終的に、ベルト１１上にあった製品一列分の四個が五列並んだ製品二十個が箱詰め用のひとまとまりの製品として、図１８のごとくベルト１１上から分離敷板９５１上に移動する。 Next, the rod M2 of the pusher means M is retracted as shown in FIG. 14, and the front plate portion M5a is erected along the belt on the floor plate 96 side as in FIG. The product P that has been restrained by the side plate portion M5b in FIG. 12 is released from the side plate portion M5b by the guard rail GD shown in FIG. 10, and then travels on the belt 11 to the stop member T and stops there. . Thereafter, the products placed on the belt 11 proceed toward the stop member T as indicated by the white arrows in FIG. 16, and four products P for one row are newly accumulated on the stop member T.
When four products P are accumulated, a sensor (not shown) detects the same as the above contents, and the rod M2 of the pusher means M is expanded, and the servomotor is controlled to rotate by the position command from the controller. The mover J5 connected to the receiving member N is moved backward by a distance corresponding to one product. In accordance with the advancement of the movable member M2 due to the extension of the rod, the movable element J5 of the position control means J of the receiving member is sequentially retracted, and the product P stopped by the stop member T is moved onto the floor plate 95. Accumulate. Finally, twenty products in which four rows of five rows of products on the belt 11 are lined move from the belt 11 onto the separation plate 951 as shown in FIG. .

後は、実施形態１と同様、ロボットを使って箱詰めする。紙面垂直奥方へ走る搬送機Ｖで送り出される上面開口の段ボール箱ＣＢに箱詰めする。ロボットＲＴがアーム部ＡＭ、ハンド部ＨＤを使って二十個に集積された製品Ｐをまとめて取り出す。
ロボットＲＴを使って箱詰めする間も、ベルト１１に製品Ｐを載せて進行させたままにしても、図１２のごとく製品Ｐはプッシャー部材の側面板部Ｍ５ｂで制止される。 After that, as in the first embodiment, the robot is used for boxing. Boxes are packed in a cardboard box CB having an upper surface opening that is sent out by a transporter V that runs vertically in the plane of the drawing. The robot RT uses the arm part AM and the hand part HD to take out the product P accumulated in twenty pieces collectively.
Even while the robot RT is used for boxing, even when the product P is placed on the belt 11 and is advanced, the product P is stopped by the side plate M5b of the pusher member as shown in FIG.

前記ロボットＲＴを使っての箱詰めが完了すると、受部材の位置制御手段Ｊのアクチュエータの可動子Ｊ５が進出し、受部材Ｎが分離敷板９５１側のベルト１１沿いに配され、これに合わせて、プッシャーアクチュエータの可動部材Ｍ２が後退し、前面板部Ｍ５ａが敷板９６側のベルト沿いに起立し、初期状態に復帰する。
後は上述した各動作を繰り返し、製品集積作業を連続的に続けられるようになっている。 When the boxing using the robot RT is completed, the actuator mover J5 of the receiving member position control means J advances, and the receiving member N is arranged along the belt 11 on the separating floor 951 side. The movable member M2 of the pusher actuator moves backward, and the front plate portion M5a rises along the belt on the floor plate 96 side and returns to the initial state.
Thereafter, the above-described operations are repeated, so that product accumulation work can be continued continuously.

このように構成した製品集積装置は、第一位置制御手段２ａ、第二位置制御手段２ｂを並設し、第一受枠３ａ内に製品Ｐを集積して収容スペースＳに満たした後、該受枠３をコンベア１外へ出すと、第二受枠３ｂの各個別スペース３０をコンベア１上に順次くるようにして、その受枠３内に製品Ｐが連なるよう集積可能になり、第一受枠３ａから第二受枠３ｂへ切り替え集積が円滑にできる。
そして、受枠３内でひとまとめに集積された製品Ｐは、図７(カ),図８(サ),(タ),図９(ナ)のごとく、ベルト上面１１ａの外に出した後、ロボットＲＴで箱詰めするが、箱詰めに要する時間よりも、他方の受枠３に製品Ｐが連なるよう集積する時間の方が長くなるので、図７〜図９のように供給コンベア１上で製品Ｐの集積を行っても、該コンベア１の連続運転や製品Ｐの集積作業を止めることがない。製品集積作業の連続運転が可能になり、製品Ｐの集積作業の迅速化,高効率化が図られる。 The product stacking device configured as described above has the first position control means 2a and the second position control means 2b arranged side by side, stacks the products P in the first receiving frame 3a and fills the accommodation space S, and then receives the receiving frame. When the conveyer 3 is brought out of the conveyor 1, the individual spaces 30 of the second receiving frame 3b can be sequentially placed on the conveyor 1 so that the products P can be stacked in series in the receiving frame 3, and the first receiving frame 3a The second receiving frame 3b can be switched smoothly and accumulated.
Then, the products P collected together in the receiving frame 3 are moved out of the belt upper surface 11a as shown in FIG. 7 (f), FIG. 8 (s), (t), and FIG. Although packaging is performed at RT, the time for accumulating the products P in the other receiving frame 3 is longer than the time required for packaging, so the accumulation of the products P on the supply conveyor 1 as shown in FIGS. However, the continuous operation of the conveyor 1 and the product P accumulation operation are not stopped. The product accumulation work can be continuously operated, and the accumulation work of the product P can be made quicker and more efficient.

また、底面の大きさに比し高さがある調味料等の柱状製品Ｐにあっては、特許文献１のように製品Ｐが進行方向と直角に曲がって製品Ｐが振り分けられると転倒する虞があるが、本発明では製品Ｐがベルト１１に載ってそのまま進行して、受枠３へ入って集積保持されるので、そうした事態に陥らない。
さらに、受枠３が、受部３１の両端からコンベア１上流側へ向けて平面視コ字状に側板３２を延在させ、且つ該受部３１が製品Ｐを受け止める受面からコンベア１上流側へ向けて各個別スペース３０に区画化する仕切版３３を櫛歯状に延在すると、受枠３内で製品Ｐが一つずつ綺麗に振り分けられ且つ確実に保持されるので、可動部２５の進退動に伴い、受枠３内の製品Ｐがコンベア１の進行方向と直交するよう動いても製品Ｐが転倒ことは全くない。底面のわりに高さがある製品Ｐの集積に対しても、安定的な運転を実現できる。 Further, in the case of a columnar product P such as a seasoning having a height that is higher than the size of the bottom surface, there is a possibility that the product P will be overturned when the product P is bent at a right angle to the traveling direction and the product P is distributed. However, in the present invention, the product P travels as it is on the belt 11, enters the receiving frame 3, and is accumulated and held. Therefore, such a situation does not occur.
Further, the receiving frame 3 extends the side plate 32 in a U-shape in a plan view from both ends of the receiving portion 31 toward the upstream side of the conveyor 1, and the receiving portion 31 receives the product P from the receiving surface to the upstream side of the conveyor 1. When the partition plates 33 that partition into the individual spaces 30 are extended in a comb-like shape, the products P are neatly distributed and securely held one by one in the receiving frame 3, so that the movable portion 25 moves forward and backward. Accordingly, even if the product P in the receiving frame 3 moves so as to be orthogonal to the moving direction of the conveyor 1, the product P never falls. Stable operation can be realized even for the accumulation of products P having a height instead of the bottom surface.

さらにいえば、本製品集積装置は、製品Ｐを載せて供給するコンベア１の脇に受枠用位置制御手段２,受枠３等を設置する程度の構成で済むので、特許文献１と違って、コンパクト化が図れ、且つ据付面積も小さくて済む。   Furthermore, since the product accumulation device can be configured to have the receiving frame position control means 2, the receiving frame 3 and the like installed beside the conveyer 1 on which the product P is placed and supplied, unlike the patent document 1, it is compact The installation area can be reduced.

加えて、ストッパ７と補助センサ８２を備えると、第一受枠３ａをかわして、第二受枠３ｂ内の各個別スペース３０がコンベア１上に順次くるようにして、製品Ｐを集積させ、該第二受枠３ｂの収容スペースＳを満たした後、第一受枠３ａの先端にある個別スペース３０がコンベア１上へくるまで、コンベア１に載って該受枠３へと進む製品Ｐの進行をストッパ部材７５が止めることができる。第二受枠３ｂの収容スペースＳを満たす製品Ｐの個数を補助センサ８２がカウント検出することで、可動体７２が進出し、ストッパ部材７５をコンベア１上に配させて、第一受枠３ａの先端又は後端にある個別スペース３０がコンベア１上へくるまで、コンベア１に載って該受枠３へと進む製品Ｐの進行を停止させるので、第一受枠３ａ内に製品Ｐが入り込めずに、その外に製品Ｐ(図５の紙面一番下の製品Ｐ)が進行するような不測の事態に陥らない。製品集積作業の安定操業に貢献する。ちなみに、ストッパ部材７５が製品Ｐを制止しても、製品Ｐがベルト上面１１ａ上を滑るようにして制止される状態にできるので、コンベア１をいちいち止めることがなく、本製品集積装置の使用方法は頗る簡単になっている。   In addition, when the stopper 7 and the auxiliary sensor 82 are provided, the individual receptacles 30 in the second receiving frame 3b are sequentially moved on the conveyor 1 by crossing the first receiving frame 3a, and the products P are accumulated. After filling the accommodation space S of the two receiving frames 3b, the progress of the product P on the conveyor 1 and advancing to the receiving frame 3 is stopped until the individual space 30 at the tip of the first receiving frame 3a comes on the conveyor 1. Can stop. The auxiliary sensor 82 counts and detects the number of products P that fill the accommodation space S of the second receiving frame 3b, whereby the movable body 72 advances and the stopper member 75 is disposed on the conveyor 1, and the tip of the first receiving frame 3a Alternatively, the product P does not enter into the first receiving frame 3a because the progress of the product P which is placed on the conveyor 1 and advances to the receiving frame 3 is stopped until the individual space 30 at the rear end comes onto the conveyor 1. In addition, there is no unexpected situation in which the product P (the product P at the bottom of the drawing in FIG. 5) progresses. Contributes to stable operation of product accumulation work. By the way, even if the stopper member 75 holds the product P, the product P can be held in a state of sliding on the belt upper surface 11a so that the conveyor 1 is not stopped one by one, and the method of using the product accumulation device Has become easy to beat.

また、ガイド手段６を備え、コンベア１側へ進出したガイド部材６５を該コンベア１のベルト１１の側縁沿いに配すると、図８(タ)〜図９(ト)のごとく第一受枠３ａをかわして第二受枠３ｂへ製品Ｐが進行するとき、第一受枠３ａの脇を通過する地点で、製品Ｐが不用意に倒れたりずれたりするのを該ガイド部材６５でガードでき、製品集積装置の安定的運転に貢献する。また立板片５１を備え、製品Ｐが第二受枠３ｂへと進む際、該立板片５１がコンベア１に係るベルト１１の側縁沿いに配されるようにすると、図７(カ)〜図８(コ)のごとく、第一受枠３ａの脇を通過する地点で、製品Ｐが不用意に倒れたりずれたりするのをガードでき、安定的運転に貢献する。   Further, when the guide means 6 is provided and the guide member 65 advanced to the conveyor 1 side is disposed along the side edge of the belt 11 of the conveyor 1, the first receiving frame 3a is made as shown in FIG. When the product P advances to the second receiving frame 3b, the guide member 65 can guard against inadvertent falling or shifting of the product P at a point passing the side of the first receiving frame 3a, and the product accumulation device Contributes to stable driving. Moreover, when the standing plate piece 51 is provided and the standing plate piece 51 is arranged along the side edge of the belt 11 related to the conveyor 1 when the product P advances to the second receiving frame 3b, FIG. As shown in FIG. 8 (c), the product P can be guarded against inadvertent falling or shifting at a point passing by the first receiving frame 3a, contributing to stable operation.

また、実施形態２のごとく、プッシャー手段Ｍ,受部材の位置制御手段Ｊ,受部材Ｎ,停止部材Ｔを備え、可動部材Ｍ２の進出に合わせて、受部材の位置制御手段Ｊの可動子Ｊ５を順次後退させて、停止部材Ｔに停止させられた製品Ｐを、敷板９５上へ移動させて集積すると、前述した受枠用位置制御手段２等を備えた製品集積装置とはまた別の製品集積装置をベルト１１沿いに簡便に組み込むことができる。実施形態１の製品集積装置と比較して、実施形態２で追加した製品集積装置は構成がシンプルで、低コスト化できる。それでいて、実施形態１と同様、製品Ｐを載せて供給するコンベア１１を止めずに、製品Ｐの連続的な自動集積に対応でき、また、高さのある柱状製品Ｐ等であっても転倒するようなことがなく、さらに装置の設置面積もコンパクト化できる。   Further, as in the second embodiment, the pusher means M, the position control means J of the receiving member, the receiving member N and the stopping member T are provided, and the mover J5 of the position control means J of the receiving member J in accordance with the advancement of the movable member M2. Are sequentially moved back and the product P stopped by the stop member T is moved and accumulated on the floor plate 95, another product accumulation different from the product accumulation device provided with the receiving frame position control means 2 etc. The device can be conveniently integrated along the belt 11. As compared with the product accumulation device of the first embodiment, the product accumulation device added in the second embodiment has a simple configuration and can be reduced in cost. Still, as in the first embodiment, it is possible to cope with continuous automatic accumulation of the products P without stopping the conveyor 11 which supplies and loads the products P, and even if it is a pillar product P or the like having a height, it falls over In addition, the installation area of the apparatus can be made compact.

加えて、実施形態２の製品集積装置は単独でも用いることができるが、製品Ｐをベルト１１に載せて進行させる一つのコンベア１のベルト１１沿いに、製品本数,製品仕様を変える実施形態１,２で述べた二種類の製品集積装置が備わると、ロボットＲＴや搬送機Ｖを共用して、製品本数,製品仕様を変える場合の段取り変えに威力を発揮し、切り替え作業時間の短縮化を可能にする。
このように、本製品集積装置は上述した数々の優れた効果を発揮し極めて有益である。 In addition, the product stacking apparatus of the second embodiment can be used alone, but the number of products and the product specifications are changed along the belt 11 of one conveyor 1 on which the product P is placed on the belt 11 and advanced. When equipped with the two types of product integration devices described in Section 2, it is possible to share the robot RT and the transport machine V, and demonstrate the power when changing the number of products and product specifications, and shorten the switching work time. To.
As described above, the product integrating device exhibits the above-mentioned many excellent effects and is extremely useful.

尚、本発明においては前記実施形態に示すものに限られず、目的,用途に応じて本発明の範囲で種々変更できる。コンベア１,受枠用位置制御手段２,受枠３,連結部材４,立板片５１,ガイド手段６,ストッパ手段７,主センサ８１,補助センサ８２,躯体９等の形状,大きさ,個数等は用途に合わせて適宜選択できる。例えば、受枠位置制御用アクチュエータ２６や受部材の位置決め制御用アクチュエータＪ６にサーボモータを用いたが、位置決め制御可能なステッピングモータやブラシレスモータ等を用いることも勿論できる。また、実施形態１での受枠用位置制御手段２は第一位置制御手段２ａ、第二位置制御手段２ｂと二つ並設したが、さらに両受枠用位置制御手段２,２に、新たな別の受枠用位置制御手段２を加えて併設させても、本発明の範囲内にある。   The present invention is not limited to those shown in the above-described embodiment, and various modifications can be made within the scope of the present invention depending on the purpose and application. The shape, size, number, etc. of the conveyor 1, receiving frame position control means 2, receiving frame 3, connecting member 4, vertical plate 51, guide means 6, stopper means 7, main sensor 81, auxiliary sensor 82, housing 9 etc. It can select suitably according to a use. For example, although the servo motor is used for the receiving frame position control actuator 26 and the receiving member positioning control actuator J6, it is of course possible to use a stepping motor or a brushless motor capable of positioning control. In addition, the receiving frame position control means 2 in the first embodiment is arranged in parallel with the first position control means 2a and the second position control means 2b. It is within the scope of the present invention to add the receiving frame position control means 2 together.

１ コンベア
１１ ベルト
１１ａ ベルトの上面
２ 受枠用位置制御手段
２ａ 第一位置制御手段
２ｂ 第二位置制御手段
２１ 固定部
２５ 可動部
３ 受枠
３１ 個別スペース
３２ 側板
３３ 仕切板
７ プッシャー手段
７１ 基部
７２ 可動体（ロッド）
７５ プッシャー部材
８１ 主センサ
８２ 補助センサ
９ 躯体
９５ 敷板
９６ 敷板
ＡＬ 帯状通路
Ｍ プッシャー手段
Ｍ１ プッシャーアクチュエータ主部
Ｍ２ 可動部材
Ｍ５ プッシャー部材
Ｎ 受部材
Ｊ 受部材の位置制御手段
Ｊ１ 固定主部
Ｊ５ 可動子
Ｊ６ 受部材の位置決め制御用アクチュエータ
Ｔ 停止部材
Ｐ 製品
Ｓ 収容スペース
Ｘ 可動部の進退動方向
Ｙ コンベアの進行方向 1 Conveyor
11 Belt
11a belt upper surface 2 receiving frame position control means 2a first position control means 2b second position control means 21 fixed portion 25 movable portion 3 receiving frame 31 individual space 32 side plate 33 partition plate 7 pusher means 71 base 72 movable body (rod)
75 pusher member 81 main sensor 82 auxiliary sensor 9 housing
95 flooring
96 flooring
AL belt-like passage M pusher means M1 pusher actuator main part M2 movable member M5 pusher member N receiving member J receiving member position control means J1 fixed main part J5 movable element J6 actuator for positioning control of receiving member T stop member P product S accommodation space X Direction of movement of movable part Y Direction of movement of conveyor

Claims (4)

製品(P)をベルト(11)に載せて進行させるコンベア(1)と、
該コンベア(1)の上方域で躯体(9)に固着した固定部(21)に係合する可動部(25)を、その進退動方向(X)が平面視でベルト(11)の進行方向(Y)と直交するようにして、受枠位置決め制御用アクチュエータ(26)に接続してなる制御手段が、該コンベア(1)の上流側から下流側に向けて第一位置制御手段(2a)、第二位置制御手段(2b)として並設された受枠用位置制御手段(2)と、
前記可動部(25)の各先端部分に、その進出方向へ向けて突設し、前記ベルト(11)の進行方向と対向する受部(31)を有して、可動部(25)の進退動方向(X)に製品用個別スペース(30)を複数連ねることのできる収容スペース(S)が設けられ、前記可動部(25)の進出で前記ベルト(11)上を横切ってコンベア(1)外へ出る一方、その状態から該可動部(25)の後退で、該ベルト(11)を横切って先端が該ベルト(11)上に出ない位置まで引っ込むことのできる受枠(3)と、
該受枠(3)の在るコンベア地点よりもコンベア(1)の上流側領域で、該コンベア(1)に載って該受枠(3)へと進む製品(P)の通過を検出する主センサ(81)と、
躯体(9)に配される板体で、互いに離間させてつくる帯状通路(AL)に前記コンベア(1)のベルト(11)が配設されるように夫々の一側縁を該ベルト沿いに沿わせると共に、前記ベルト(11)の上面(11a）に上面を合わせ、且つ前記可動部(25)の進退動方向へ向けて該上面が水平に延在する二つの敷板(95,96)と、を具備し、
該主センサ(81)による製品(P)の通過検出に伴い、前記コンベア上流側に位置する受枠(3)の各個別スペース(30)がコンベア(1)上に順次くるように前記第一位置制御手段(2a)の可動部(25)を進出又は退動させ、コンベア(1)が連続運転中にあって、ベルト(11)を滑った状態で前記受枠(3)に製品(P)が係止保持されて、該受枠(3)内に製品(P)を連ねるように集積して前記収容スペース(S)に満たした後、該可動部(25)を進出させるか退動させて該受枠(3)をコンベア(1)外の前記敷板(95)又は敷板(96)上へ出し、該受枠(3)が前記ベルト(11)に載って運ばれてきた次の製品(P)をかわす一方、コンベア下流側に位置する受枠(3)の各個別スペース(30)がコンベア(1)上に順次くるようにして、その受枠(3)内に該製品(P)を連ねるよう集積することを特徴とする製品集積装置。 Conveyor (1) that carries product (P) on belt (11) and proceeds,
The movable portion (25) engaged with the fixed portion (21) fixed to the casing (9) in the upper area of the conveyor (1) is moved in the advancing / retracting direction (X) of the belt (11) in plan view Control means connected to the receiving frame positioning control actuator (26) so as to be orthogonal to (Y), the first position control means (2a) from the upstream side to the downstream side of the conveyor (1), Receiving frame position control means (2) arranged in parallel as the second position control means (2b),
Each movable portion (25) has a receiving portion (31) projecting in the forward direction of the movable portion (25) and facing the advancing direction of the belt (11). A storage space (S) capable of arranging a plurality of individual product spaces (30) in the moving direction (X) is provided , and a conveyor (1) is crossed across the belt (11) by advancing of the movable portion (25). A receiving frame (3) which can go out to the position where the tip end does not come out on the belt (11) across the belt (11) while the movable part (25) is retreated from that state ;
A main sensor that detects the passage of the product (P) that is placed on the conveyor (1) and proceeds to the receiving frame (3) in the upstream region of the conveyor (1) from the conveyor point where the receiving frame (3) is located ( 81) and
Plates arranged on the casing (9), and one side edge along the belt so that the belt (11) of the conveyor (1) is arranged in a strip-shaped passage (AL) formed apart from each other. Along the upper surface (11a) of the belt (11), and two base plates (95, 96) whose upper surfaces extend horizontally in the advancing and retracting direction of the movable portion (25) ,,
With the passage detection of the product (P) by the main sensor (81), the first position so that each individual space (30) of the receiving frame (3) located on the upstream side of the conveyor sequentially comes on the conveyor (1) The movable part (25) of the control means (2a) is advanced or retracted, and the product (P) is placed on the receiving frame (3) while the conveyor (1) is in continuous operation and the belt (11) is slid. After the product (P) is accumulated so as to be held in a row in the receiving frame (3) and filled in the accommodation space (S), the movable portion (25) is advanced or retracted to be held. receiving frame (3) a conveyor (1) outside of said sole plate (95) or sole plate (96) and out to the above receiving frame (3) the belt (11) the following products have been transported rests (P) while you buy, each individual space receiving frame (3) located conveyor downstream (30) so as to sequentially come in on a conveyor (1), the receiving frame (3) so that contiguous with said product (P) into the A product accumulation device characterized by accumulating. 前記受枠(3)が、その下縁を前記ベルト(11)の上面(11a)及び両敷板(95,9)から浮き上がった状態にして、前記受部(31)の両端からコンベア(1)上流側へ向けて平面視コ字状に側板(32)を延在させ、且つ該受部(31)が製品(P)を受け止める受面からコンベア上流側へ向けて前記各個別スペース(30)に区画化する仕切板(33)を櫛歯状に延在させてなる請求項１記載の製品集積装置。 The lower end of the receiving frame (3) is lifted from the upper surface (11a) of the belt (11) and both base plates (95, 9), and the conveyor (1) upstream from both ends of the receiving portion (31) Extend the side plate (32) in a U-shape in a plan view toward the side, and receive the product (P) from the receiving surface where the receiving portion (31) receives the product (P) to the above-mentioned individual spaces (30) The product stacking device according to claim 1, wherein the partitioning plate (33) to be partitioned is extended in a comb shape. 前記コンベア(1)上流側の前記受枠(3)よりもさらにコンベア(1)の上流側に位置する領域の躯体(9)に、補助アクチュエータの基部(71)を固定し、該基部(71)から進退動可能な可動体(72)の先端にストッパ部材(75)を取着したストッパ手段(7)と、該ストッパ部材(7)の地点よりもコンベア(1)の上流側に位置する領域で、コンベア(1)に載って該受枠(3)へと進む製品(P)の通過を検出する補助センサ(82)と、をさらに具備し、
前記第一位置制御手段(2a)の可動部(25)に突設する前記受枠(3)をかわして、コンベア下流側に位置する受枠(3)内の各個別スペース(30)がコンベア(1)上に順次くるようにして、コンベア下流側に位置する受枠(3)内に製品(P)を集積させ、該受枠(3)の収容スペース(S)を満たす製品(P)の個数を前記補助センサ(82)が検出することで、前記補助アクチュエータの前記可動体(72)が進出し、前記ストッパ部材(75)を前記コンベア(1)上に配させて、前記コンベア上流側に位置する受枠(3)の先端にある個別スペース(30)がコンベア(1)上へくるまで、コンベア(1)に載って該受枠(3)へと進む製品(P)の進行を遮るようにした請求項１又は２に記載の製品集積装置。 The base (71) of the auxiliary actuator is fixed to the housing (9) in the region positioned further upstream of the conveyor (1) than the receiving frame (3) on the upstream side of the conveyor (1), and the base (71) Stopper means (7) having a stopper member (75) attached to the tip of a movable body (72) that can be moved forward and backward, and a region located on the upstream side of the conveyor (1) from the point of the stopper member (7) And an auxiliary sensor (82) for detecting the passage of the product (P) that is placed on the conveyor (1) and proceeds to the receiving frame (3), and
The individual spaces (30) in the receiving frame (3) located on the downstream side of the conveyer are replaced by the conveyer (1) by replacing the receiving frame (3) protruding from the movable portion (25) of the first position control means (2a). ) The products (P) are accumulated in the receiving frame (3) located on the downstream side of the conveyor so as to sequentially come on the top, and the number of the products (P) satisfying the accommodation space (S) of the receiving frame (3) is As the auxiliary sensor (82) detects, the movable body (72) of the auxiliary actuator advances, and the stopper member (75) is disposed on the conveyor (1) and located on the upstream side of the conveyor A request to place on the conveyor (1) and interrupt the progress of the product (P) traveling to the receiving frame (3) until the individual space (30) at the end of the receiving frame (3) comes above the conveyor (1) The product accumulation device according to item 1 or 2. 前記ストッパ手段(7)よりもコンベア(1)の上流側に位置する領域の躯体(9)に、プッシャーアクチュエータの主部(M1)を固定し、該主部(M1)から進退動方向が前記ベルト(11)の進行方向と直交する可動部材(M2)の先端に、前面板部(M5a)が該ベルト(11)の上面よりも高い位置で且つベルト進行方向に沿って起立するプッシャー部材(M5)を取付けたプッシャー手段(M)と、
前記ベルト(11)を挟んで、前記プッシャーアクチュエータの主部(M1)に対向するようにして躯体(9)に固着した固定主部(J1)に、係合する可動子(J5)を、その進退動方向が平面視でベルト(11)の進行方向と直交するようにして、受部材の位置決め制御用アクチュエータ(J6)に接続してなる受部材の位置制御手段(J)と、
前記可動子(J5)に、その進出方向へ向けて突設させ、前記前面板部(M5a)に対向する受面を備えた受部材(N)と、
前記前面板部(M5a)よりもコンベア(1)の下流域で且つ前記ベルト(11)の上方に配設され、ベルト(11)に載って進行する前記製品(P)に当接し、該製品を停止させる停止部材(T)と、をさらに具備し、
前記可動部材(M2)の進出に合わせて、受部材の位置制御手段(J)の可動子(J5)を順次後退させて、該停止部材(T)に停止させられた前記製品(P)を、前記敷板(95)上へ移動させて集積する請求項３記載の製品集積装置。 The main part (M1) of the pusher actuator is fixed to the housing (9) of the area located on the upstream side of the conveyor (1) than the stopper means (7), and the advancing / retracting direction from the main part (M1) is said A pusher member (at the front end of the movable member (M2) orthogonal to the traveling direction of the belt (11), the front plate portion (M5a) is raised above the upper surface of the belt (11) and along the belt traveling direction ( M5) attached pusher means (M),
The mover (J5) is engaged with the fixed main portion (J1) fixed to the housing (9) so as to face the main portion (M1) of the pusher actuator with the belt (11) interposed therebetween. The receiving member position control means (J) connected to the receiving member positioning control actuator (J6) so that the advancing / retreating direction is orthogonal to the advancing direction of the belt (11) in plan view,
The movable member (J5), projecting toward its advance direction, a receiving member (N) provided with a receiving surface facing the front plate portion (M5a),
The product is disposed in the downstream area of the conveyor (1) with respect to the front plate (M5a) and above the belt (11), and comes into contact with the product (P) traveling on the belt (11). Further comprising a stop member (T) for stopping the
As the movable member (M2) advances, the mover (J5) of the position control means (J) of the receiving member is sequentially retracted to stop the product (P) stopped by the stop member (T). 4. The product stacking apparatus according to claim 3, wherein the product stacking apparatus is moved and stacked on the floor plate (95).
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