JP7224656B2

JP7224656B2 - Goods transfer device

Info

Publication number: JP7224656B2
Application number: JP2020082254A
Authority: JP
Inventors: 崇永山元; 裕康飯田; 健二大山
Original assignee: 株式会社フジキカイ
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2023-02-20
Anticipated expiration: 2040-05-07
Also published as: JP2021176794A

Description

本発明は、搬送方向に一列で並んで搬送される複数の物品の並び方向と交差する方向に複数列で物品を並べて物品移載部に移載することが可能な物品移載装置に関する。 The present invention relates to an article transfer apparatus capable of arranging articles in a plurality of rows in a direction crossing the direction in which a plurality of articles are arranged and conveyed in a row in the conveying direction and transferring them to an article transfer section.

コンベヤによって一列で搬送されてきた複数の物品を、保持手段にて所定個数ずつ保持し、段ボールなどのケース体に収容する際に、該ケース体の形状に適した配列に変換する物品移載装置が、特許文献１として提案されている。特許文献１に開示の物品移載装置は、物品を保持可能な複数の保持手段を備え、該複数の保持手段を物品搬送方向に沿う横並びに配置した状態で、各保持手段によって物品をそれぞれ所定個数ずつ保持してコンベヤから取り上げた後、各保持手段を、保持した所定個数の物品の並び方向中央を中心として９０度回転させると共に、複数の保持手段を並列となるように近接移動することで、一列の物品を複数列に変換した物品群を形成している。 An article transfer device that holds a plurality of articles conveyed in a line by a conveyor in a predetermined number each by a holding means and converts them into an arrangement suitable for the shape of the case body when they are accommodated in a case body such as corrugated cardboard. has been proposed as Patent Document 1. An article transfer apparatus disclosed in Patent Document 1 includes a plurality of holding means capable of holding an article, and in a state in which the plurality of holding means are arranged side by side along the article conveying direction, each holding means holds an article in a predetermined position. After holding the articles one by one and picking them up from the conveyor, each holding means is rotated by 90 degrees around the center of the arrangement direction of the held predetermined number of articles, and a plurality of holding means are moved close to each other so as to be in parallel. , forming a group of articles in which one row of articles is converted into a plurality of rows.

特許第３６６４４５９号公報Japanese Patent No. 3664459

特許文献１に開示の物品移載装置では、各保持手段を、保持した所定個数の物品の並び方向中央を中心として９０度回転するため、各保持手段を近づけて複数列の集合した物品群とするためには、回転中心から端の物品までの長さに依存する距離だけ保持手段を相互に近づける必要があり、変換作業に長い時間が掛かって処理能力の向上が望めない問題が指摘される。 In the article transfer apparatus disclosed in Patent Document 1, each holding means rotates 90 degrees around the center in the direction in which a predetermined number of held articles are arranged. In order to do so, it is necessary to bring the holding means closer to each other by a distance that depends on the length from the center of rotation to the article at the end. .

本発明は、搬送方向に一列で並ぶ複数の物品を、並び方向と交差する方向に複数列となるように能率よく変換して処理能力を向上することができる物品移載装置を提供することを目的とする。 It is an object of the present invention to provide an article transfer apparatus capable of improving processing capacity by efficiently converting a plurality of articles arranged in a row in the conveying direction into a plurality of rows in a direction intersecting the arrangement direction. aim.

本願の請求項１に係る発明の物品移載装置は、
搬送方向に一列で並んで搬送される複数の物品(10,11)の並び方向と交差する方向に複数列で物品(10,11)を並べて物品移載部(S2)に移載する物品移載装置において、
前記一列で並ぶ物品(10,11)を複数個ずつに分けて保持する第１保持手段(12)および第２保持手段(13)と、
前記一列で並ぶ物品(10,11)を保持する前記第１保持手段(12)と第２保持手段(13)とが搬送方向の前後で隣り合う端側において各保持手段(12,13)を回動可能に支持する支持軸(40,42)と、を備え、
該支持軸(40,42)回りに前記第１保持手段(12)および第２保持手段(13)を相互に反対方向に回転し、
前記第１保持手段(12)と第２保持手段(13)とで保持した物品(10,11)を前記一列で並ぶ物品(10,11)の並び方向と交差する方向で複数列に並んだ物品(10,11)として前記物品移載部(S2)に移載するよう構成したことを特徴とする。
請求項１に係る発明によれば、所定個数の物品を保持する第１保持手段および第２保持手段を、両保持手段同士の隣り合う端側の位置を中心に相互に反対方向に回転して、保持した物品を一列で並ぶ物品の並び方向と交差する方向で複数列に変換するので、第１保持手段で保持した物品の列と第２保持手段で保持した物品の列との離間距離は短かく、集合した物品群を能率よく形成して処理能力を向上することができる。 The article transfer device of the invention according to claim 1 of the present application is
Articles (10, 11) are arranged in a plurality of rows in a direction crossing the direction in which the plurality of articles (10, 11) are arranged in a line and conveyed in the conveying direction, and transferred to an article transfer section (S2). In the on-board device,
a first holding means (12) and a second holding means (13) for separately holding the articles (10, 11) arranged in a row;
The first holding means (12) and the second holding means (13) for holding the articles (10, 11) arranged in a row are arranged so that the holding means (12, 13) are arranged at adjacent ends in the forward and backward directions in the conveying direction. and support shafts (40, 42) that are rotatably supported,
rotating the first holding means (12) and the second holding means (13) in opposite directions about the support shafts (40, 42);
The articles (10, 11) held by the first holding means (12) and the second holding means (13) are arranged in a plurality of rows in a direction crossing the direction in which the articles (10, 11) arranged in one row are arranged. It is characterized in that the article (10, 11) is transferred to the article transfer section (S2).
According to the first aspect of the invention, the first holding means and the second holding means for holding a predetermined number of articles are rotated in opposite directions about positions of adjacent ends of both holding means. Since the held articles are converted into a plurality of rows in a direction crossing the direction in which the articles are arranged in a single row, the distance between the row of articles held by the first holding means and the row of articles held by the second holding means is Short, clustered groups of articles can be efficiently formed to improve throughput.

請求項２に係る発明では、前記物品移載部(S2)は、物品(10,11)を搬送方向に並べて搬送する搬送コンベヤ(15,16)の側方に設けられ、
前記搬送コンベヤ(15,16)により搬送される複数の物品(10,11)を保持した第１保持手段(12)および第２保持手段(13)を、前記物品移載部(S2)に向けて移動しつつ前記支持軸(40,42)回りに相互に反対方向に回転して、保持した物品(10,11)を前記一列で並ぶ物品(10,11)の並び方向と交差する方向で複数列に並ぶように構成したことを特徴とする。
請求項２の発明によれば、保持した物品を複数列に変換して物品移載部に能率よく移載することができる。また、回転中心から離間する端側に保持した物品に加わる負荷を小さくして、高速処理に対応することができる。 In the invention according to claim 2, the article transfer section (S2) is provided on the side of the conveyer (15, 16) for conveying the articles (10, 11) arranged in the conveying direction,
The first holding means (12) and the second holding means (13) holding the plurality of articles (10, 11) conveyed by the conveyers (15, 16) are directed toward the article transfer section (S2). While moving with the support shafts (40, 42), the held articles (10, 11) are rotated in directions opposite to each other in a direction intersecting the direction in which the articles (10, 11) lined up in a row are arranged. It is characterized by being configured so as to be arranged in a plurality of rows.
According to the invention of claim 2, the held articles can be converted into a plurality of rows and efficiently transferred to the article transfer section. Also, the load applied to the article held on the end side away from the center of rotation can be reduced, and high-speed processing can be handled.

請求項３に係る発明では、前記第１保持手段(12)および第２保持手段(13)により物品(10,11)を保持する物品保持部(S1)に搬送される複数の物品(10,11)を、各保持手段(12,13)で保持する保持数ごとに分割する分割手段(25)と、
前記第１保持手段(12)に保持した物品(10,11)と第２保持手段(13)に保持した物品(10,11)との列の間隔を縮めるように、前記第１保持手段(12)および第２保持手段(13)を相対的に近接させる幅寄せ手段(44)と、を備えたことを特徴とする。
請求項３の発明によれば、各保持手段ごとに保持数の物品をミスなく保持することができると共に、分割された物品の列を幅寄せ手段によって近づけて密集することができる。 In the invention according to claim 3, the plurality of articles (10, 10, 10) conveyed to the article holding section (S1) holding the articles (10, 11) by the first holding means (12) and the second holding means (13). dividing means (25) for dividing 11) by the holding number held by each holding means (12, 13);
The first holding means (12) holds the articles (10, 11) and the second holding means (13) holds the articles (10, 11) so as to reduce the distance between the rows of the articles (10, 11). 12) and a width adjusting means (44) for bringing the second holding means (13) relatively close to each other.
According to the third aspect of the present invention, each holding means can hold the number of articles held without mistakes, and the rows of divided articles can be brought closer together by the width gathering means to be densely packed.

請求項４に係る発明では、物品(10,11)の搬送方向と交差する両側に位置し、搬送方向に並んで搬送される物品(10,11)の側方を案内するガイド部材(22,22)と、
該ガイド部材(22,22)を、物品(10,11)の側方を案内する案内位置と、該物品(10,11)から離間する解除位置とに移動する作動手段(23)と、を備え、
該作動手段(23)は、前記第１保持手段(12)および第２保持手段(13)により複数の物品(10,11)が保持されると、前記ガイド部材(22,22)を案内位置から解除位置に移動して物品(10,11)の前記物品移載部(S2)への移動を許容するよう構成したことを特徴とする。
請求項４の発明によれば、列を乱すことなく物品を搬送することができるので、位置ズレなどによる保持手段での保持ミスを抑制することができる。また、ガイド部材を解除位置に移動することで、保持手段で保持した物品を物品移載部に支障なく移載することができる。 In the invention according to claim 4, guide members (22, 11) are positioned on both sides intersecting the conveying direction of the articles (10, 11) and guide the sideways of the articles (10, 11) conveyed side by side in the conveying direction. 22) and
actuating means (23) for moving the guide members (22, 22) between a guide position for guiding the side of the articles (10, 11) and a release position for separating from the articles (10, 11); prepared,
The actuating means (23) shifts the guide members (22, 22) to the guiding position when the plurality of articles (10, 11) are held by the first holding means (12) and the second holding means (13). to the release position to permit the movement of the articles (10, 11) to the article transfer section (S2).
According to the invention of claim 4, since the articles can be conveyed without disturbing the rows, it is possible to suppress holding errors by the holding means due to misalignment. Further, by moving the guide member to the release position, the article held by the holding means can be transferred to the article transfer section without any trouble.

請求項５に係る発明では、前記物品(10,11)は、上面と底面とで大きさが異なり、
前記ガイド部材(22,22)より搬送方向の上流側で物品(10,11)を上下反転させる反転手段(17)を備え、
該反転手段(17)は、搬送方向に並ぶ複数の物品(10,11)が、隣同士で上面と底面の向きが交互となるように物品(10,11)を反転するよう構成したことを特徴とする。
請求項５の発明によれば、上面と底面の大きさが異なる複数の物品を、コンパクトに集合して物品移載部に移載することができる。 In the invention according to claim 5, the articles (10, 11) have different sizes on the top surface and the bottom surface,
reversing means (17) for reversing the articles (10, 11) upside down on the upstream side in the conveying direction of the guide members (22, 22);
The reversing means (17) is configured to reverse the articles (10, 11) so that the plurality of articles (10, 11) arranged in the conveying direction are alternately oriented between the top surface and the bottom surface. Characterized by
According to the invention of claim 5, a plurality of articles having different sizes of the top surface and the bottom surface can be gathered compactly and transferred to the article transfer section.

本発明によれば、搬送方向に一列で並ぶ複数の物品を、並び方向と交差する方向に複数列となるように能率よく変換して物品群とすることができ、処理能力を向上することができる。 According to the present invention, a plurality of articles arranged in a row in the conveying direction can be efficiently converted into a plurality of rows in a direction intersecting the arrangement direction to form an article group, thereby improving the processing capacity. can.

物品移載装置を示す概略平面図である。It is a schematic plan view showing an article transfer device. 搬送コンベヤの物品整列部を示す概略平面図である。FIG. 4 is a schematic plan view showing an article alignment section of the transport conveyor; 物品整列部の物品を保持手段で保持する状態を示す概略正面図である。FIG. 4 is a schematic front view showing a state in which the articles in the article arranging section are held by holding means; 保持手段を用いて物品を移載する状態を示す概略側面図である。FIG. 4 is a schematic side view showing a state in which an article is transferred using a holding means; 保持手段を用いて物品を一列から二列にする説明図である。It is explanatory drawing which makes an article into two rows from one row using a holding means. 別実施例の保持手段を用いて物品を一列から二列にする説明図である。It is explanatory drawing which arrange|positions articles|goods from 1 row to 2 rows using the holding means of another Example. 保持手段を回転して物品列の向きを変えるときの物品の動きを示す説明図である。FIG. 10 is an explanatory view showing the movement of articles when the holding means is rotated to change the orientation of the article row;

次に、本発明に係る物品移載装置の好適な実施例を挙げて、添付図面を参照しながら以下説明する。 Next, a preferred embodiment of an article transfer apparatus according to the present invention will be described below with reference to the accompanying drawings.

図１～図４は、実施例に係る物品移載装置を示す概略図であって、該物品移載装置は、所定個数の物品１０,１１を保持する第１保持手段１２および第２保持手段１３と、各保持手段１２,１３を回動可能に支持する支持軸４０,４２と、を備え、物品整列部(物品保持部)Ｓ１において後述する物品搬送方向(搬送方向)に並ぶ複数の物品１０,１１を、該物品整列部Ｓ１に並ぶ列数のまま第１保持手段１２および第２保持手段１３で保持して物品整列部Ｓ１から取り上げ、支持軸４０,４２回りに両保持手段１２,１３を相互に反対方向に回転することで配列を変換した物品１０,１１を物品移載部Ｓ２に移載し得るよう構成される。実施例では、物品整列部Ｓ１において一列に並んだ全て(８個)の物品１０,１１を、第１保持手段１２および第２保持手段１３に夫々複数個(４個)ずつに分けて保持して一括で取り上げ、物品１０,１１の向きを上下方向の軸回りに回転して変更すると共に二列(複数列)に変換して物品移載部Ｓ２に移載する場合を例示して説明する。 1 to 4 are schematic diagrams showing an article transfer device according to an embodiment. The article transfer device includes first holding means 12 and second holding means for holding a predetermined number of articles 10 and 11. FIG. 13, and support shafts 40, 42 for rotatably supporting the respective holding means 12, 13, and a plurality of articles arranged in an article conveying direction (conveying direction) described later in an article arranging section (article holding section) S1. 10 and 11 are held by the first holding means 12 and the second holding means 13 while maintaining the number of rows arranged in the article arranging section S1 and picked up from the article arranging section S1. 13 are rotated in mutually opposite directions to transfer the articles 10 and 11 whose arrangement is changed to the article transfer section S2. In the embodiment, all (eight) articles 10 and 11 arranged in a row in the article arranging section S1 are divided into a plurality (four) each and held by the first holding means 12 and the second holding means 13. A case in which the articles 10 and 11 are picked up together, the directions of the articles 10 and 11 are changed by rotating them around the vertical axis, and the articles 10 and 11 are converted into two rows (a plurality of rows) and transferred to the article transfer section S2 will be described. .

図４に示す如く、前記物品１０,１１は、例えば、氷が収容された容器であって、上面と底面とで大きさが異なる(底面より上面が大きい)。実施例では、図１、図２に示す如く、２基の搬送コンベヤ１５,１６が並列に配置されて、各搬送コンベヤ１５,１６により種類が異なる円錐台形状の物品１０や角錐台形状の物品１１を、夫々搬送コンベヤ１５,１６上に設定された前記物品整列部Ｓ１,Ｓ１に向けて一列に並べて搬送する。搬送コンベヤ１５,１６は、無端ベルトを常時走行するベルトコンベヤで構成される。なお、各搬送コンベヤ１５,１６の物品搬送路中に配置される各種の手段は同じであるので、角錐台形状の物品１１を搬送する搬送コンベヤ１６に関する手段について説明し、円錐台形状の物品１０を搬送する搬送コンベヤ１５に関する手段については同じ符号を付して説明は省略する。搬送コンベヤ１６の搬送途中に、物品１１を挟持する挟持部材を１８０度回転して、該物品１１を上下反転させる反転手段１７が設けられる。この反転手段１７は、搬送コンベヤ１６によって上面を上向きとして搬送されてくる複数の物品１１を１個おきに上下反転して、搬送コンベヤ１６上において隣同士で物品１１の上面と底面の向きを交互に異なるようにする。なお、底面を上向きとした物品１１の底面に、上面を上向きとした物品１１と区別するために本図示例ではハッチングを付して表した。 As shown in FIG. 4, the articles 10 and 11 are containers containing ice, for example, and the top surface and the bottom surface are different in size (the top surface is larger than the bottom surface). In the embodiment, as shown in FIGS. 1 and 2, two conveyors 15 and 16 are arranged in parallel, and different types of truncated cone-shaped articles 10 and truncated pyramid-shaped articles are carried by the respective conveyors 15 and 16. 11 are arranged in a line and conveyed toward the article alignment sections S1 and S1 set on the conveyers 15 and 16, respectively. The transport conveyors 15 and 16 are belt conveyors that always run endless belts. Since the various means arranged in the article conveying paths of the respective conveying conveyors 15 and 16 are the same, the means relating to the conveying conveyor 16 for conveying the truncated pyramid-shaped article 11 will be explained, and the truncated cone-shaped article 10 will be explained. Means relating to the conveyer 15 for conveying are denoted by the same reference numerals, and description thereof is omitted. A reversing means 17 is provided for rotating a clamping member that clamps the article 11 by 180 degrees while the conveyer 16 is conveying the article 11 to turn the article 11 upside down. The reversing means 17 vertically inverts every other article 11 conveyed by the conveying conveyor 16 with its upper surface facing upward, and alternates the orientation of the upper surface and the bottom surface of the articles 11 adjacent to each other on the conveying conveyor 16 . to be different. In this illustrated example, the bottom surface of the article 11 whose bottom surface faces upward is hatched in order to distinguish it from the article 11 whose upper surface faces upward.

図１、図２に示す如く、前記搬送コンベヤ１６における反転手段１７より物品搬送方向の下流側に、物品搬送方向と交差する方向に離間する第１のガイド部材１８,１８が物品搬送方向に所定長さで延在し、搬送コンベヤ１６で搬送される物品１１を第１のガイド部材１８,１８によって両側から案内する。搬送コンベヤ１６における前記物品整列部Ｓ１の手前に、搬送コンベヤ１６で搬送される物品１１の搬送を規制する規制位置と、規制を解除する解除位置とに移動する集合手段１９が設けられ、該集合手段１９は、規制位置において物品１１が所定個数(実施例では８個)集合したことを図示しない検出手段が検出すると解除位置に移動して、集合した複数の物品１１の搬送を許容する。また、集合手段１９より上流側に、集合した複数の物品１１が下流側に搬送される際に、前記第１保持手段１２で保持する先行する４個の物品１１と、前記第２保持手段１３で保持する後行の４個の物品１１とを所定間隔だけ離間させる第１分割手段２０が設けられる。第１分割手段２０は、搬送コンベヤ１６における物品搬送路を挟む一方側に配置した固定部材と、他方側に位置してエアシリンダなどの作動手段によって物品搬送路に対して進退移動する押さえ部材とを備え、後行の４個の物品１１における先頭の物品１１を押さえ部材と固定部材とで挟持して搬送を一旦規制することで、８個の物品１１を、各保持手段１２,１３の保持数である４個と４個の２つのグループに分割するよう構成される。また、第１分割手段２０より上流側に、集合手段１９により集合される両保持手段１２,１３で一度に保持する数である８個の物品１１に後続する物品１１の搬送を規制して切り離す切離し手段２１が設けられ、該切離し手段２１によって８個の物品１１の最後尾の物品１１と、次の物品１１とを所定距離だけ離間させる。なお、切離し手段２１の構成は、第１分割手段２０と同じである。 As shown in FIGS. 1 and 2, first guide members 18, 18 spaced apart in a direction intersecting the article conveying direction are provided downstream of the reversing means 17 on the conveying conveyor 16 in the article conveying direction. The first guide members 18, 18 guide the articles 11 which extend in length and are conveyed by the conveyer 16 from both sides. In front of the article alignment section S1 on the conveyer 16, a collecting means 19 is provided that moves between a regulation position for regulating the conveyance of the articles 11 conveyed by the conveyer 16 and a release position for releasing the regulation. The means 19 moves to the release position when a detection means (not shown) detects that a predetermined number (eight in this embodiment) of the articles 11 have gathered at the regulating position, allowing the collected articles 11 to be conveyed. Further, when the plurality of collected articles 11 are conveyed downstream from the gathering means 19, the preceding four articles 11 held by the first holding means 12 and the second holding means 13 A first dividing means 20 is provided for separating the following four articles 11 which are held by a predetermined distance. The first dividing means 20 consists of a fixed member arranged on one side of the conveyer 16 across the article conveying path, and a pressing member positioned on the other side and moved back and forth with respect to the article conveying path by an operating means such as an air cylinder. is provided, and the leading article 11 of the four following articles 11 is clamped between the pressing member and the fixing member to temporarily restrict the transportation, so that the eight articles 11 are held by the holding means 12 and 13 It is configured to divide into two groups of numbers 4 and 4. Further, on the upstream side of the first dividing means 20, the 8 articles 11, which are the number held at one time by both the holding means 12 and 13 gathered by the gathering means 19, are regulated and the articles 11 subsequent to the eight articles 11 are separated. Separating means 21 are provided, and the separating means 21 separates the last article 11 of the eight articles 11 from the next article 11 by a predetermined distance. Note that the configuration of the separating means 21 is the same as that of the first dividing means 20 .

図２、図３に示す如く、前記物品整列部Ｓ１には、物品搬送方向と交差する方向に離間する第２のガイド部材２２,２２が物品搬送方向に所定長さで延在し、搬送コンベヤ１６によって搬送される物品１１を、第２のガイド部材２２,２２によって両側方から案内する。第２のガイド部材２２,２２は、エアシリンダなどの作動手段２３によって、物品１１に近接して案内する案内位置と、物品１１から側方に離間して案内を解除する解除位置との間で移動するよう構成される(図４参照)。第２のガイド部材２２,２２は、案内位置において搬送コンベヤ１６上の物品１１における上下方向の略中央を支持し得るように位置する。また、作動手段２３は、物品整列部Ｓ１に整列する物品１１が前記第１保持手段１２および第２保持手段１３で保持されると、前記第２のガイド部材２２,２２を案内位置から解除位置に移動して第１保持手段１２および第２保持手段１３での物品１１の取り上げを許容する。物品整列部Ｓ１に、先行グループにおける先頭の物品１１の搬送を規制する規制部材２４が設けられ、該規制部材２４で搬送規制された先頭の物品１１に後続する物品１１は、先行の物品１１に当接して搬送規制される。また、規制部材２４より上流側に、前記第１分割手段２０で分割された後行グループにおける先頭の物品１１を搬送規制する第２分割手段(分割手段)２５が配設される。第２分割手段２５は、搬送コンベヤ１６の側方から物品間に進退移動する分割部材２６と、該分割部材２６を、物品１１の搬送を規制する規制位置と解除位置とに移動するエアシリンダなどの駆動手段２７とを備える。駆動手段２７は、分割部材２６が解除位置に位置する状態で、先行グループの４個目の物品１１が通過したことを図示しない検出手段が検出すると、分割部材２６を解除位置から規制位置に移動し、先行グループと後行グループとの間隔が詰まるのを防ぐよう構成される。実施例では、規制部材２４および分割部材２６によって、物品整列部Ｓ１において先行グループおよび後行グループの物品１１の位置決めを行っている。 As shown in FIGS. 2 and 3, second guide members 22, 22 are spaced apart in a direction intersecting the article conveying direction in the article arranging section S1 and extend for a predetermined length in the article conveying direction. The article 11 conveyed by 16 is guided from both sides by second guide members 22 , 22 . The second guide members 22, 22 are moved between a guide position in which the article 11 is guided close to the article 11 and a release position in which the article 11 is laterally separated from the article 11 and the guide is released by an operating means 23 such as an air cylinder. It is configured to move (see Figure 4). The second guide members 22, 22 are positioned so as to support substantially the vertical center of the article 11 on the conveyer 16 at the guide position. Further, when the articles 11 aligned in the article aligning section S1 are held by the first holding means 12 and the second holding means 13, the operating means 23 moves the second guide members 22, 22 from the guide position to the release position. to allow the first holding means 12 and the second holding means 13 to pick up the article 11 . A regulating member 24 for regulating the transportation of the leading article 11 in the preceding group is provided in the article arranging section S1, and the article 11 succeeding the leading article 11 whose conveyance is regulated by the regulating member 24 is placed on the preceding article 11. Conveyance is regulated by abutment. Further, a second dividing means (dividing means) 25 for regulating the transportation of the leading article 11 in the trailing group divided by the first dividing means 20 is arranged upstream of the regulating member 24 . The second dividing means 25 includes a dividing member 26 that advances and retreats between the articles from the side of the conveyer 16, and an air cylinder or the like that moves the dividing member 26 between a regulating position and a release position for regulating the conveyance of the articles 11. and a driving means 27 of When the detection means (not shown) detects that the fourth article 11 of the preceding group has passed while the dividing member 26 is at the releasing position, the driving means 27 moves the dividing member 26 from the releasing position to the regulating position. and is configured to prevent the gap between the leading group and the trailing group from being narrowed. In the embodiment, the regulating member 24 and the dividing member 26 position the articles 11 of the leading group and the trailing group in the article aligning section S1.

図１、図４に示す如く、前記搬送コンベヤ１６から物品搬送方向と交差する方向に離間する側方に、箱搬送コンベヤ２８が配置される。箱搬送コンベヤ２８上の物品移載部Ｓ２に、図示しないシートマガジンから取り出され、上方および物品整列部Ｓ１側の側方が開口する半製函の箱２９が位置付けられるよう構成される。実施例では、搬送コンベヤ１６上の物品整列部Ｓ１で一列に並ぶ８個の物品１１を、前記第１保持手段１２および第２保持手段１３で取り上げ、二列に変換して箱搬送コンベヤ２８上の箱２９に移載するよう構成される。 As shown in FIGS. 1 and 4, a box conveyer 28 is arranged on the side of the conveyer 16 separated from the conveyer 16 in a direction intersecting the article conveying direction. A semi-finished box 29, which is taken out from a sheet magazine (not shown) and is open at the upper side and the side of the article arranging section S1, is positioned at the article transfer section S2 on the box transport conveyor . In this embodiment, eight articles 11 lined up in a line at the article alignment section S1 on the transport conveyor 16 are picked up by the first holding means 12 and the second holding means 13, converted into two lines, and placed on the box transport conveyor 28. is configured to be transferred to the box 29 of the

図３に示す如く、前記第１保持手段１２は、所定長さの第１保持具３０に、前記物品整列部Ｓ１で並ぶ物品１１の上方を向く面を吸着可能な吸着パッド３０ａを、長手方向に離間して当該第１保持手段１２で保持する物品１１の保持数分(実施例では４つ)備え、物品整列部Ｓ１に並ぶ８個の物品１１のうち、先行グループの４個の物品１１を各吸着パッド３０ａで吸着可能に構成される。また、前記第２保持手段１３は、所定長さの第２保持具３１に、物品整列部Ｓ１で並ぶ物品１１の上方を向く面を吸着可能な吸着パッド３１ａを、長手方向に離間して当該第２保持手段１３で保持する物品１１の保持数分(実施例では４つ)備え、物品整列部Ｓ１に並ぶ８個の物品１１のうち、後行グループの４個の物品１１を各吸着パッド３１ａで吸着可能に構成される。なお、第１保持手段１２および第２保持手段１３は、吸着する物品１０,１１の数および種類に応じて、吸着パッド３０ａ,３１ａの数や間隔が異なるものに交換される。図１では、両搬送コンベヤ１５,１６で異なる物品１０,１１を夫々搬送している状態を示しているが、実施例の物品移載装置では、保持手段１２,１３によって移載する種類の物品１０,１１のみが対応する一方の搬送コンベヤ１５,１６によって搬送され、他方の搬送コンベヤ１５,１６では物品１０,１１は搬送されない。 As shown in FIG. 3, the first holding means 12 includes a suction pad 30a capable of sucking the upward surface of the articles 11 arranged in the article arranging section S1 on a first holder 30 having a predetermined length, which is arranged in the longitudinal direction. The number of articles 11 held by the first holding means 12 (four in the embodiment) are provided, and among the eight articles 11 lined up in the article arranging section S1, the four articles 11 in the preceding group are provided. can be sucked by each suction pad 30a. In addition, the second holding means 13 has a suction pad 31a capable of sucking the upward surface of the articles 11 arranged in the article arranging section S1 on the second holding member 31 having a predetermined length, spaced apart in the longitudinal direction. The number of articles 11 to be held by the second holding means 13 (four in the embodiment) is provided, and among the eight articles 11 lined up in the article aligning section S1, four articles 11 in the following group are attached to each suction pad. 31a is configured to be capable of being adsorbed. The first holding means 12 and the second holding means 13 are replaced with suction pads 30a and 31a having different numbers and intervals depending on the number and type of articles 10 and 11 to be sucked. FIG. 1 shows a state in which different articles 10 and 11 are conveyed by both conveyers 15 and 16, respectively. Only 10,11 are conveyed by the corresponding one conveying conveyor 15,16, the other conveying conveyor 15,16 does not convey the articles 10,11.

図４に示す如く、前記物品整列部Ｓ１および物品移載部Ｓ２に対応する上方に亘り、両保持手段１２,１３を進退移動する進退機構３２が配置される。進退機構３２は、前記搬送コンベヤ１６における集合手段１９から物品整列部Ｓ１への物品搬送方向と交差(直交)する移載方向に延在するスライドガイド３３と、該スライドガイド３３に移動自在に支持されたスライダ３４と、該スライダ３４をスライドガイド３３に沿って移載方向の前後に往復移動する駆動手段としてのサーボモータ３５とを備える。サーボモータ３５は、前記第１保持手段１２および第２保持手段１３を、搬送コンベヤ１５上または搬送コンベヤ１６上に設定された物品整列部Ｓ１の上方と、物品移載部Ｓ２の上方(箱２９の内部)との間を移動するよう駆動制御される。 As shown in FIG. 4, an advancing/retreating mechanism 32 for moving the holding means 12, 13 forwards and backwards is arranged above the article alignment section S1 and the article transfer section S2. The advancing/retreating mechanism 32 is movably supported by a slide guide 33 extending in a transfer direction that intersects (perpendicularly) with the article conveying direction from the gathering means 19 of the conveyer 16 to the article arranging section S1. and a servomotor 35 as driving means for reciprocating the slider 34 back and forth in the transfer direction along the slide guide 33 . The servo motor 35 moves the first holding means 12 and the second holding means 13 above the article alignment section S1 and above the article transfer section S2 (box 29) set on the conveyor 15 or 16. (inside the ).

図３、図４に示す如く、前記スライダ３４に、前記第１保持手段１２および第２保持手段１３を支持する昇降部材３６に接続する昇降手段としてのエアシリンダ３７が配設される。このエアシリンダ３７は、前記物品整列部Ｓ１の上方において、搬送コンベヤ１５,１６で搬送されてくる物品１０,１１に干渉しない上方の待機位置Ｎ１と、物品整列部Ｓ１で並ぶ物品１０,１１の上方を向く面を吸着する保持位置Ｎ２との間で前記第１保持手段１２および第２保持手段１３を昇降移動するよう駆動制御される。またエアシリンダ３７は、前記物品移載部Ｓ２の上方において、物品移載部Ｓ２で待機する箱２９の内部に臨む収容位置Ｎ３と、箱２９の内底面に物品１０,１１を載置する解放位置Ｎ４との間で第１保持手段１２および第２保持手段１３を昇降移動するよう駆動制御される。なお、待機位置Ｎ１および収容位置Ｎ３の高さは同じであって、第１保持手段１２および第２保持手段１３で保持した物品１０,１１が、箱２９の底部に干渉することなく箱２９の側方開口から物品１０,１１を進入可能な高さに設定される。 As shown in FIGS. 3 and 4, the slider 34 is provided with an air cylinder 37 as elevating means connected to an elevating member 36 that supports the first holding means 12 and the second holding means 13 . The air cylinder 37 has a standby position N1 above the article aligning section S1 that does not interfere with the articles 10 and 11 conveyed by the conveying conveyors 15 and 16, and a position where the articles 10 and 11 aligned in the article arranging section S1 are placed at a standby position N1. Drive control is performed so that the first holding means 12 and the second holding means 13 move up and down between the holding position N2 where the surface facing upward is attracted. Moreover, the air cylinder 37 is positioned above the article transfer section S2 at a housing position N3 facing the inside of the box 29 waiting in the article transfer section S2 and a release position N3 at which the articles 10 and 11 are placed on the inner bottom surface of the box 29. Drive control is performed so that the first holding means 12 and the second holding means 13 are vertically moved between the position N4 and the position N4. The heights of the standby position N1 and the accommodation position N3 are the same, and the articles 10 and 11 held by the first holding means 12 and the second holding means 13 can be moved out of the box 29 without interfering with the bottom of the box 29. The height is set so that the articles 10 and 11 can enter from the side opening.

物品移載装置は、前記第１保持手段１２および第２保持手段１３を相互に反対方向に回転する回転手段１４を備える。図３に示す如く、回転手段１４は、前記第１保持手段１２を上下方向の軸回りに回転する第１回転部３８と、前記第２保持手段１３を上下方向の軸回りに回転する第２回転部３９とを備える。第１回転部３８は、前記昇降部材３６に回転自在に支持されて上下方向に延在し、第１保持手段１２の第１保持具３０における長手方向の一端部に接続された第１支持軸(支持軸)４０と、該第１支持軸４０を回転駆動する駆動手段としての第１サーボモータ４１とを備える。また、第２回転部３９は、昇降部材３６に回転自在に支持されて第１支持軸４０と平行に延在し、第２保持手段１３の第２保持具３１における長手方向の一端部に接続された第２支持軸(支持軸)４２と、該第２支持軸４２を回転駆動する駆動手段としての第２サーボモータ４３とを備える。そして、各サーボモータ４１,４３によって対応する支持軸４０,４２を正逆方向に９０度回転することで、保持具３０,３１は、その長手が物品搬送方向に沿う向きと、物品搬送方向と交差する向きとに変化する。支持軸４０,４２は、保持具３０,３１の長手が物品搬送方向に沿う向きにおいて、保持具同士における物品搬送方向(物品整列部Ｓ１での物品１１の並び方向)の前後で隣り合う端側の位置に接続されており、両サーボモータ４１,４３によって両支持軸４０,４２を相互に反対方向に回転することで、第１保持手段１２と第２保持手段１３とは、保持手段同士の隣り合う端側の位置を中心として回転して、支持軸４０,４２から離間する端部が相対的に近接離間移動する。すなわち、第１保持手段１２および第２保持手段１３は、保持具３０,３１の長手が搬送コンベヤ１５,１６での物品１０,１１の並び方向(物品搬送方向)に直列で整列する第１の形態(図３参照)と、保持具３０,３１の長手が物品搬送方向と交差して両保持手段１２,１３が並列となる第２の形態(図４の二点鎖線参照)とに回転手段１４により変換される。そして、第１の形態において第１保持手段１２および第２保持手段１３によって保持した物品整列部Ｓ１で一列に並ぶ物品１１は、第１保持手段１２および第２保持手段１３を第２の形態に変換することで、物品整列部Ｓ１での物品１１の並び方向と交差する方向に２列となる。また、回転手段１４は、保持手段１２,１３の第１の形態において、保持具３０,３１における支持軸４０,４２の接続側の端部とは反対側の端部が、前記物品移載部Ｓ２から離間する側に向けて移動するように保持手段１２,１３を回転する。実施例では、各支持軸４０,４２は、保持具同士の隣り合う端側に位置する吸着パッド３０ａ,３１ａの略真上に位置している。 The article transfer device comprises rotating means 14 for rotating the first holding means 12 and the second holding means 13 in directions opposite to each other. As shown in FIG. 3, the rotating means 14 includes a first rotating part 38 that rotates the first holding means 12 around the vertical axis, and a second rotating part 38 that rotates the second holding means 13 around the vertical axis. and a rotating portion 39 . The first rotating part 38 is rotatably supported by the elevating member 36 and extends in the vertical direction. (support shaft) 40 and a first servomotor 41 as driving means for rotating the first support shaft 40 . The second rotating part 39 is rotatably supported by the elevating member 36, extends parallel to the first support shaft 40, and is connected to one longitudinal end of the second holder 31 of the second holding means 13. and a second servomotor 43 as a drive means for rotating the second support shaft 42 . By rotating the corresponding support shafts 40 and 42 by 90 degrees in the forward and reverse directions by the respective servo motors 41 and 43, the holders 30 and 31 are arranged so that the longitudinal direction of the holders 30 and 31 coincides with the article conveying direction. change in the crossing direction. The support shafts 40 and 42 are adjacent to each other in the direction in which the articles 11 are arranged in the article arranging section S1 in the direction in which the holders 30 and 31 are conveyed. By rotating both support shafts 40 and 42 in mutually opposite directions by both servomotors 41 and 43, the first holding means 12 and the second holding means 13 are connected to each other. Rotating around the positions of the adjacent ends, the ends separated from the support shafts 40 and 42 move relatively close to each other. That is, the first holding means 12 and the second holding means 13 are arranged in series so that the lengths of the holding tools 30 and 31 are arranged in series in the direction in which the articles 10 and 11 are arranged on the conveying conveyors 15 and 16 (the article conveying direction). 3), and a second form (see two-dot chain line in FIG. 4) in which the holders 30 and 31 are arranged in parallel with each other so that the lengths of the holders 30 and 31 intersect with the article conveying direction. 14. Then, the articles 11 lined up in the article arranging section S1 held by the first holding means 12 and the second holding means 13 in the first form are moved to the second form by the first holding means 12 and the second holding means 13 in the second form. By converting, two rows are formed in a direction intersecting the direction in which the articles 11 are arranged in the article arranging section S1. In addition, in the first form of the holding means 12, 13, the rotating means 14 is such that the ends of the holding tools 30, 31 opposite to the ends on the connection side of the support shafts 40, 42 are connected to the article transfer section. The holding means 12, 13 are rotated so as to move toward the side away from S2. In the embodiment, the respective support shafts 40, 42 are positioned substantially directly above the suction pads 30a, 31a positioned on the adjacent end sides of the holders.

実施例の物品移載装置は、前記第１保持手段１２および第２保持手段１３の第２の形態での離間幅を縮める幅寄せ手段４４を備える。この幅寄せ手段４４は、図３に示す如く、前記昇降部材３６に配設されて前記物品搬送方向に沿って延在するスライドガイド４５と、該スライドガイド４５に移動自在に支持されたスライダ４６と、スライダ４６をスライドガイド４５に沿って移動する駆動手段としてのサーボモータ４７とを備え、スライダ４６に第２回転部３９が一体的に移動するように配設される。すなわち、サーボモータ４７によってスライダ４６をスライドガイド４５に沿って往復移動することで、第１保持手段１２に接続する第１支持軸４０と、第２保持手段１３に接続する第２支持軸４２とが相対的に近接離間移動するよう構成される。 The article transfer apparatus of the embodiment includes a width adjusting means 44 for narrowing the distance between the first holding means 12 and the second holding means 13 in the second form. As shown in FIG. 3, the width adjusting means 44 includes a slide guide 45 disposed on the elevating member 36 and extending along the article conveying direction, and a slider 46 movably supported by the slide guide 45. and a servomotor 47 as driving means for moving the slider 46 along the slide guide 45 , and the slider 46 is provided so that the second rotating portion 39 moves integrally therewith. That is, by reciprocating the slider 46 along the slide guide 45 by the servomotor 47, the first support shaft 40 connected to the first holding means 12 and the second support shaft 42 connected to the second holding means 13 are connected. are configured to move relatively close together.

次に、実施例に係る物品移載装置の作用について、前記搬送コンベヤ１６で一列に並んで搬送される角錐台形状の物品１１を、一列から二列に変換して移載する場合で説明する。 Next, the operation of the article transfer apparatus according to the embodiment will be described in the case where the truncated pyramid-shaped articles 11 conveyed in a line by the conveying conveyor 16 are transferred from one line to two lines. .

物品移載装置では、図４に示す如く、前記第１保持手段１２および第２保持手段１３は、搬送コンベヤ１６上における物品整列部Ｓ１の上方の待機位置Ｎ１において、両保持手段１２,１３が物品搬送方向に直列で整列する第１の形態で位置付けられる。また、前記箱搬送コンベヤ２８上の物品移載部Ｓ２には、空の半製函の箱２９が側部開口を物品整列部Ｓ１側に向けた姿勢で待機する。 In the article transfer apparatus, as shown in FIG. 4, the first holding means 12 and the second holding means 13 are positioned at a standby position N1 above the article alignment section S1 on the transport conveyor 16. Positioned in a first configuration in series alignment in the article conveying direction. At the article transfer section S2 on the box transport conveyor 28, an empty semi-made box 29 stands by with the side opening facing the article alignment section S1.

図１に示す如く、前記搬送コンベヤ１６によって上面が上向きとして所定間隔毎に搬送されてくる物品１１は、前記反転手段１７によって１個おきに上下反転され、搬送コンベヤ１６上において物品１１は、上面と底面とを交互に異なる状態で搬送される。搬送コンベヤ１６で搬送される物品１１は、図２に示す如く、前記規制位置に位置する集合手段１９によって搬送が規制されることで、後続の物品１１が押せ押せ状態で集合され、８個の物品１１が物品搬送方向に一列に並んだ状態で集合される。８個の物品１１が集合すると、集合手段１９が規制位置から解除位置に移動し、物品１１の搬送が再開される。このとき、前記第１分割手段２０によって後行グループの物品１１の搬送が一時的に規制され、先行グループと後行グループとが所定間隔離間するように分割され、この分割状態で前記物品整列部Ｓ１に向けて８個の物品１１が搬送される。また、後行グループの物品１１の搬送が再開されるまで、上流側での物品１１の搬送が前記切離し手段２１によって規制されて、前の８個の物品１１と後続する物品１１とを切り離す。 As shown in FIG. 1, the articles 11 conveyed by the conveying conveyor 16 with their upper surfaces facing upward are conveyed at predetermined intervals. and the bottom surface are conveyed alternately in different states. As shown in FIG. 2, the articles 11 conveyed by the conveyer 16 are regulated by the collecting means 19 positioned at the regulating position, so that the following articles 11 are collected in a pressed state, and eight pieces are formed. The articles 11 are assembled in a row in the article conveying direction. When the eight articles 11 are gathered, the gathering means 19 moves from the restricted position to the released position, and the conveyance of the articles 11 is resumed. At this time, the transportation of the articles 11 in the trailing group is temporarily regulated by the first dividing means 20, and the leading group and the trailing group are divided so that they are separated by a predetermined distance. Eight articles 11 are conveyed toward S1. In addition, the separating means 21 regulates the transportation of the articles 11 on the upstream side until the transportation of the articles 11 of the trailing group is resumed, and the preceding eight articles 11 and the succeeding articles 11 are separated.

前記集合手段１９から下流側に搬送される８個の物品１１は、案内位置に位置する前記第２のガイド部材２２,２２によって整列状態を維持するように案内される。前記搬送コンベヤ１６で搬送される先行グループの先頭の物品１１が前記規制部材２４で搬送規制されることで、先行グループの４個の物品１１が押せ押せ状態で集合される。また、４個の物品１１が前記第２分割手段２５を通過したことを検出手段が検出すると、該第２分割手段２５の分割部材２６が駆動手段２７によって解除位置から規制位置に移動され、該分割部材２６により後行グループの先頭の物品１１が搬送規制されることで、後行グループの４個の物品１１が押せ押せ状態で集合される。すなわち、物品整列部Ｓ１には、先行グループと後行グループとが分割された状態で、両グループの物品１１が物品搬送方向に一列で並んで集合すると共に整列される。物品整列部Ｓ１の上方の待機位置Ｎ１において、第１の形態で待機している第１保持手段１２および第２保持手段１３は、図３に示す如く、前記エアシリンダ３７によって保持位置Ｎ２まで下降し、物品整列部Ｓ１で並ぶ先行グループの４個の物品１１が第１保持手段１２の吸着パッド３０ａで吸着されると共に、後行グループの４個の物品１１が第２保持手段１３の吸着パッド３１ａで吸着される。そして、エアシリンダ３７によって第１保持手段１２および第２保持手段１３を待機位置Ｎ１まで上昇することで、物品整列部Ｓ１から８個の物品１１が一括して取り上げられる。なお、物品整列部Ｓ１から物品１１が取り上げられる前に、前記第２のガイド部材２２,２２が作動手段２３によって解除位置まで移動し、上下反転して下側に大きな寸法の上面が位置している物品１１が、第２のガイド部材２２,２２に引っ掛かることなく取り上げられるのを許容する。 The eight articles 11 conveyed downstream from the gathering means 19 are guided so as to maintain their aligned state by the second guide members 22, 22 positioned at the guiding position. Since the leading article 11 of the preceding group conveyed by the conveying conveyor 16 is regulated by the regulating member 24, the four articles 11 of the preceding group are gathered in a pressed state. Further, when the detecting means detects that the four articles 11 have passed through the second dividing means 25, the dividing member 26 of the second dividing means 25 is moved by the driving means 27 from the released position to the regulated position. Since the transport of the leading article 11 of the trailing group is regulated by the dividing member 26, the four articles 11 of the trailing group are gathered in a pressed state. That is, in the article aligning section S1, the articles 11 of the two groups are gathered and aligned in the article conveying direction in a state in which the preceding group and the following group are divided. The first holding means 12 and the second holding means 13 waiting in the first form at the waiting position N1 above the article alignment section S1 are lowered to the holding position N2 by the air cylinder 37 as shown in FIG. Then, the four articles 11 in the leading group lined up in the article aligning section S1 are sucked by the suction pads 30a of the first holding means 12, and the four articles 11 in the trailing group are picked up by the suction pads of the second holding means 13. It is adsorbed at 31a. By raising the first holding means 12 and the second holding means 13 to the standby position N1 by the air cylinder 37, the eight articles 11 are collectively picked up from the article alignment section S1. Before the article 11 is picked up from the article arranging section S1, the second guide members 22, 22 are moved to the release position by the operating means 23, turned upside down, and the large upper surface is positioned on the lower side. It allows an article 11 on the side to be picked up without being caught by the second guide members 22, 22. - 特許庁

前記第１保持手段１２および第２保持手段１３が待機位置Ｎ１に至ると、前記回転手段１４の第１回転部３８および第２回転部３９によって前記第１支持軸４０および第２支持軸４２を相互に反対方向に９０度回転して、第１保持手段１２および第２保持手段１３を第１の形態から第２の形態に変化する。これにより、図５(ａ),(ｂ)に示す如く、物品搬送方向に一列に並んでいた８個の物品１１は、物品搬送方向と交差する移載方向に並ぶ４個の物品１１の列が、物品搬送方向に並ぶ二列の配列に変換される。なお、物品整列部Ｓ１で一列に並ぶ物品１１の並び方向と交差する方向では、該並び方向に並ぶ２つの物品１１の列が４列となる。そして、前記幅寄せ手段４４のサーボモータ４７により、第２の形態に変化した第１保持手段１２および第２保持手段１３を相対的に近接することで、二列となった各列の物品１１が相互に近接して間隔が縮められ、物品１１を密集した物品群が形成される(図５(ｃ)参照)。 When the first holding means 12 and the second holding means 13 reach the standby position N1, the first supporting shaft 40 and the second supporting shaft 42 are rotated by the first rotating portion 38 and the second rotating portion 39 of the rotating means 14. By rotating 90 degrees in mutually opposite directions, the first holding means 12 and the second holding means 13 are changed from the first form to the second form. As a result, as shown in FIGS. 5(a) and 5(b), the eight articles 11 arranged in a row in the article conveying direction are replaced with a row of four articles 11 arranged in the transfer direction intersecting the article conveying direction. are converted into a two-row array aligned in the article conveying direction. In the direction intersecting the direction in which the articles 11 are arranged in a row in the article arranging section S1, there are four rows of two articles 11 arranged in the arrangement direction. Then, the first holding means 12 and the second holding means 13 changed to the second form are brought relatively close to each other by the servomotor 47 of the width aligning means 44, thereby forming two rows of the articles 11 in each row. are brought closer to each other and the distance between them is shortened, forming an article group in which the articles 11 are densely packed (see FIG. 5(c)).

次に、前記進退機構３２のサーボモータ３５を駆動して、第２の形態となっている第１保持手段１２および第２保持手段１３を、前記物品移載部Ｓ２に位置する箱２９の内部の収容位置Ｎ３まで移動する。そして、前記エアシリンダ３７により第１保持手段１２および第２保持手段１３を解放位置Ｎ４まで下降した後、各保持手段１２,１３の吸着を解放することで、二列となった８個の物品１１が箱２９の内部に移載される。物品１１を解放した第１保持手段１２および第２保持手段１３は、エアシリンダ３７、幅寄せ手段４４および回転手段１４によって、前記物品整列部Ｓ１の上方の待機位置Ｎ１まで戻って第１の形態となり、次の物品群の移載を待機する。また、箱２９への物品１１の移載が完了すると、前記箱搬送コンベヤ２８の駆動により物品１１が箱詰めされた箱２９が次工程に搬出されると共に、空の箱２９が物品移載部Ｓ２に位置付けられる。 Next, the servo motor 35 of the advance/retreat mechanism 32 is driven to move the first holding means 12 and the second holding means 13 in the second form inside the box 29 positioned in the article transfer section S2. to the housing position N3. Then, after the first holding means 12 and the second holding means 13 are lowered to the release position N4 by the air cylinder 37, the holding means 12 and 13 are released from the suction, so that the eight articles arranged in two rows are released. 11 is transferred inside the box 29 . After releasing the article 11, the first holding means 12 and the second holding means 13 are returned to the standby position N1 above the article alignment section S1 by the air cylinder 37, the width adjusting means 44 and the rotating means 14, and are in the first configuration. , and waits for the transfer of the next group of articles. When the transfer of the articles 11 to the boxes 29 is completed, the boxes 29 packed with the articles 11 are carried out to the next process by driving the box transfer conveyor 28, and the empty boxes 29 are transferred to the article transfer section S2. Positioned in

実施例の物品移載装置では、物品搬送方向に整列する第１保持手段１２および第２保持手段１３を、第１の形態において隣り合う端部側を回転中心として相互に反対方向に回転して一列の物品１１を二列に変換するようにしたので、物品１１を二列に変換した際における両保持手段１２,１３の回転中心の離間距離は短かく、第１保持手段１２で保持した物品１１の列と、第２保持手段１３で保持した物品１１の列との間隔を能率よく近づけることができる。すなわち、物品整列部Ｓ１において一列で並んでいる複数の物品１１を、能率よく二列に変換した物品１１として箱２９に移載することができ、処理能力を向上することができる。 In the article transfer apparatus of the embodiment, the first holding means 12 and the second holding means 13, which are aligned in the article conveying direction, are rotated in opposite directions about the adjacent end sides in the first form. Since one row of articles 11 is converted into two rows, the separation distance between the rotation centers of both holding means 12 and 13 when the articles 11 are converted into two rows is short, and the articles held by the first holding means 12 The space between the row of 11 and the row of articles 11 held by the second holding means 13 can be efficiently reduced. In other words, a plurality of articles 11 arranged in a line in the article arranging section S1 can be transferred to the box 29 as the articles 11 that are efficiently converted into two rows, and the processing capacity can be improved.

実施例の物品移載装置では、前記物品整列部Ｓ１において８個の物品１１を、第１保持手段１２で保持する先行グループと、第２保持手段１３で保持する後行グループとに、第２分割手段２５によって分割するようにしたので、第１保持手段１２および第２保持手段１３によって対応するグループの物品１１をミスすることなく保持することができる。また、物品１１の先行グループと後行グループとを分割しても、幅寄せ手段４４によって各グループの列を幅寄せして密集することができるので、前記箱２９に物品１１を収容する際に物品１１を箱２９に接触することなくスムーズに収容することができる。 In the article transfer apparatus of the embodiment, eight articles 11 are divided into a leading group held by the first holding means 12 and a trailing group held by the second holding means 13 in the article arranging section S1. Since the division means 25 divides the goods 11, the first holding means 12 and the second holding means 13 can hold the corresponding groups of articles 11 without making mistakes. In addition, even if the preceding group and the following group of the articles 11 are divided, the columns of each group can be brought closer together by the width aligning means 44 so that the articles 11 can be stored in the box 29. The article 11 can be smoothly accommodated without coming into contact with the box 29. - 特許庁

実施例の物品移載装置では、前記搬送コンベヤ１６で搬送される物品１１を、前記第２のガイド部材２２,２２によって列を乱すことなく案内して、物品整列部Ｓ１において８個の物品１１を整列状態で集合するので、物品１１の位置ズレなどによる保持手段１２,１３での保持ミスを抑制することができる。また、第２のガイド部材２２,２２を解除位置に移動することで、該第２のガイド部材２２,２２に物品１１が接触などすることなく、物品整列部Ｓ１からの物品１１の取り上げや、保持手段１２,１３で保持した物品１１の物品移載部Ｓ２への移動を支障なく行うことができる。更に、上面と底面とで大きさの異なる複数の物品１１を物品群として集合する場合に、隣接する物品１１を上下反転させて全体をコンパクトにし得るので、前記箱２９に物品１１を収容する際に物品１１を箱２９に接触することなくよりスムーズに収容することができる。 In the article transfer apparatus of the embodiment, the articles 11 conveyed by the conveyer 16 are guided by the second guide members 22, 22 without disturbing the rows, and the eight articles 11 are arranged in the article arranging section S1. are gathered in an aligned state, it is possible to suppress holding errors by the holding means 12 and 13 due to misalignment of the article 11 or the like. Further, by moving the second guide members 22, 22 to the release position, the article 11 is not brought into contact with the second guide members 22, 22. The article 11 held by the holding means 12 and 13 can be moved to the article transfer section S2 without any trouble. Furthermore, when a plurality of articles 11 having different sizes on the top surface and the bottom surface are collected as an article group, the adjacent articles 11 can be turned upside down to make the whole compact. The article 11 can be accommodated more smoothly without coming into contact with the box 29.

(別実施例について)
次に、物品移載装置の別実施例について、図６、図７を参照して説明する。なお、図６、図７では、保持手段１２,１３に保持した物品１１の動きを示している。 (About another example)
Next, another embodiment of the article transfer device will be described with reference to FIGS. 6 and 7. FIG. 6 and 7 show the movement of the article 11 held by the holding means 12 and 13. FIG.

別実施例の物品移載装置の構成は、実施例と同じであって、物品１１を二列に変換して物品移載部Ｓ２に移載する工程での動作が異なっている。すなわち、前記物品整列部Ｓ１において一列で並ぶ８個の物品１１を保持した前記第１保持手段１２および第２保持手段１３が保持位置Ｎ２から待機位置Ｎ１まで上昇すると、前記進退機構３２により両保持手段１２,１３を物品移載部Ｓ２に向けて移動しつつ、前記回転手段１４による両保持手段１２,１３の回転を開始する。また、保持手段１２,１３における物品移載部Ｓ２側の物品１１が前記箱２９に収容されるまでの間に、前記幅寄せ手段４４によって物品１１の列を幅寄せする。すなわち、両保持手段１２,１３で保持した物品１１を、物品移載部Ｓ２に向けて移動しつつ二列に変換すると共に幅寄せして箱２９に収容するよう構成される。従って、別実施例の物品移載装置によれば、一列の物品１１を二列に変換して物品群とするのに要する時間を短縮し得る作用効果に加えて、物品群を箱２９に収容するまでに掛かる時間を短縮することができ、高速化に対応することができる。また、両保持手段１２,１３を、回転中心から離間する端部側を物品移載部Ｓ２から離間する方向に回転するので、保持した物品１１が箱２９に干渉することなく余裕をもって物品移載部Ｓ２に向けて移動しつつ二列に変換することができる。 The configuration of the article transfer apparatus of another embodiment is the same as that of the embodiment, but the operation in the step of converting the articles 11 into two rows and transferring them to the article transfer section S2 is different. That is, when the first holding means 12 and the second holding means 13 holding the eight articles 11 arranged in a row in the article arranging section S1 are raised from the holding position N2 to the standby position N1, the advancing/retreating mechanism 32 holds both of them. While moving the means 12 and 13 toward the article transfer section S2, the rotating means 14 starts to rotate both the holding means 12 and 13 . Further, until the articles 11 on the article transfer section S2 side of the holding means 12 and 13 are accommodated in the box 29, the width aligning means 44 aligns the row of the articles 11. As shown in FIG. That is, the articles 11 held by the two holding means 12 and 13 are moved toward the article transfer section S2, converted into two rows, and moved sideways to be accommodated in the box 29. FIG. Therefore, according to the article transfer apparatus of another embodiment, the article group can be accommodated in the box 29 in addition to the effect of shortening the time required to convert one row of articles 11 into two rows to form an article group. It is possible to shorten the time required to complete the processing, and it is possible to cope with the increase in speed. In addition, since both the holding means 12 and 13 are rotated in the direction in which the end side away from the center of rotation is separated from the article transfer section S2, the article 11 held there does not interfere with the box 29 and the article is transferred with a sufficient margin. It can be converted into two rows while moving toward the part S2.

ここで、図７(ａ)に示す如く、第１の形態における保持手段１３(１２)の支持軸４２(４０)を移載方向に移動することなく保持手段１３(１２)を回転した場合に、回転中心から離間する端部側に保持した物品１１が第２の形態となる位置に至るまでの該物品１１の移載方向の変化量Ｌ１は、支持軸４２(４０)を中心とした半径に相当する。これに対し、図７(ｂ)に示す如く、保持手段１３(１２)の支持軸４２(４０)を物品移載部Ｓ２に向けて移動しつつ保持手段１３(１２)を回転した場合に、回転中心から離間する端部側に保持した物品１１が第２の形態となる位置に至るまでの移載方向の変化量Ｌ２は、支持軸４２(４０)を移載方向に移動しない場合よりも小さくなり(Ｌ２＜Ｌ１)、これによって物品１１の配列の変換時(回転時)において当該回転中心から離間する端部側に保持した物品１１に加わる負荷を小さく抑えることができる。すなわち、物品１１を保持手段１３(１２)から脱落させることなく、物品１１の配列を変換する際の速度を高速化することができる。 Here, as shown in FIG. 7(a), when the holding means 13 (12) is rotated without moving the support shaft 42 (40) of the holding means 13 (12) in the first form in the transfer direction. , the amount of change L1 in the transfer direction of the article 11 until the article 11 held on the end side away from the center of rotation reaches the position where the article 11 assumes the second form is the radius of the support shaft 42 (40). corresponds to On the other hand, as shown in FIG. 7B, when the support shaft 42 (40) of the holding means 13 (12) is moved toward the article transfer section S2 and the holding means 13 (12) is rotated, The amount of change L2 in the transfer direction until the article 11 held on the end side away from the center of rotation reaches the position where it assumes the second form is greater than when the support shaft 42 (40) is not moved in the transfer direction. It becomes smaller (L2<L1), so that when the arrangement of the articles 11 is changed (during rotation), the load applied to the articles 11 held on the end side away from the center of rotation can be reduced. That is, the speed at which the arrangement of the articles 11 is changed can be increased without dropping the articles 11 from the holding means 13 (12).

(変更例)
本発明は実施例や別実施例の構成に限定されるものではなく、例えば、以下のようにも変更実施可能である。また、以下の変更例に限らず、実施例や別実施例に記載した構成については、本発明の主旨の範囲内において種々の実施形態を採用し得る。
(1) 保持手段１２,１３の回転中心は、第１の形態において両保持手段同士の物品搬送方向の前後で隣り合う端部側であればよく、該端部側に保持される物品１１の中央からずれた位置であってもよい。
(2) 保持手段１２,１３による物品１１の保持は、吸着に限らず挟持したり把持したりする構成を採用することができる。
(3) 保持手段１２,１３を進退移動する進退機構３２、昇降移動する昇降手段(エアシリンダ)３７および両保持手段１２,１３を相互に反対方向に回転する回転手段１４などは、公知の各種機構を採用することができる。
(4) 第１保持手段１２および第２保持手段１３を、ロボットのアームユニットによって形態変化させると共に、待機位置Ｎ１、保持位置Ｎ２、収容位置Ｎ３および解放位置Ｎ４に移動する構成を採用することができる。
(5) 各保持手段１２,１３で保持する物品１１の数は、同数に限らず異なっていてもよい。
(6) 実施例などでは、搬送コンベヤ１５,１６によって物品１０,１１を一列で搬送して、物品整列部Ｓ１において物品１０,１１を物品搬送方向に一列で並ぶよう構成したが、搬送コンベヤ１５,１６によって物品搬送方向と交差する方向に複数列で物品１０,１１を搬送し、物品整列部Ｓ１において物品搬送方向と交差する方向に複数列で並ぶ物品１０,１１を両保持手段１２,１３によって保持して移載する構成を採用することができる。この構成では、各保持手段１２,１３における物品１０,１１を保持する吸着パッド３０ａ,３１ａを、物品整列部Ｓ１で並ぶ物品１０,１１の配列に応じた位置および数で設ければよい。また、第１および第２保持手段１２,１３の回転中心を、両保持手段１２,１３を相互に反対方向に回転する際に近接する側の物品列側に偏らせれば、列数を変換した際に相互に近接する物品列の離間間隔を短くすることができる。
(7) 実施例などでは、種類の異なる物品１０,１１を移載する場合に、物品１０,１１の種類に応じて保持手段１２,１３を交換するよう構成したが、保持具３０,３１に設けられる吸着パッド３０ａ,３１ａの位置を調節手段によって長手方向に変更可能に構成し、複数種類の物品１０,１１の移載を１種類の保持手段で行う構成を採用することができる。 (Change example)
The present invention is not limited to the configuration of the embodiment or another embodiment, and can be modified, for example, as follows. Further, the configurations described in the examples and other examples can be applied in various forms within the scope of the present invention without being limited to the following modified examples.
(1) The rotation centers of the holding means 12 and 13 may be the ends adjacent to each other in the article conveying direction in the first embodiment. It may be a position shifted from the center.
(2) The holding of the article 11 by the holding means 12 and 13 is not limited to suction, but can be performed by pinching or gripping.
(3) Retraction mechanism 32 for advancing and retreating holding means 12 and 13, lifting means (air cylinder) 37 for raising and lowering, rotating means 14 for rotating both holding means 12 and 13 in opposite directions, etc. mechanism can be employed.
(4) It is possible to adopt a configuration in which the first holding means 12 and the second holding means 13 are changed in form by the arm unit of the robot and moved to the standby position N1, the holding position N2, the accommodation position N3 and the release position N4. can.
(5) The number of articles 11 held by each holding means 12, 13 is not limited to the same number and may be different.
(6) In the embodiment, the articles 10 and 11 are conveyed in a line by the conveying conveyors 15 and 16, and the articles 10 and 11 are arranged in a line in the article conveying direction in the article aligning section S1. , 16 convey the articles 10 and 11 in a plurality of rows in a direction intersecting the article conveying direction, and the articles 10 and 11 arranged in a plurality of rows in the direction intersecting the article conveying direction are held by both holding means 12 and 13 in the article arranging section S1. It is possible to adopt a configuration in which it is held and transferred by In this configuration, the suction pads 30a, 31a for holding the articles 10, 11 in the respective holding means 12, 13 may be provided in positions and numbers according to the arrangement of the articles 10, 11 arranged in the article arranging section S1. Also, if the rotation centers of the first and second holding means 12 and 13 are biased toward the rows of articles on the adjacent side when both holding means 12 and 13 rotate in opposite directions, the number of rows can be changed. It is possible to shorten the distance between rows of articles that are in close proximity to one another.
(7) In the embodiment, when different types of articles 10 and 11 are transferred, the holding means 12 and 13 are exchanged according to the type of the articles 10 and 11. A configuration can be employed in which the positions of the provided suction pads 30a and 31a can be changed in the longitudinal direction by adjusting means, and a plurality of types of articles 10 and 11 can be transferred by one type of holding means.

１０物品，１１物品，１２第１保持手段，１３第２保持手段
１５搬送コンベヤ，１６搬送コンベヤ，１７反転手段，２２第２のガイド部材
２３作動手段，２５第２分割手段(分割手段)，４０第１支持軸(支持軸)
４２第２支持軸(支持軸)，４４幅寄せ手段，Ｓ１物品整列部(物品保持部)
Ｓ２物品移載部 Reference Signs List 10 article 11 article 12 first holding means 13 second holding means 15 transport conveyor 16 transport conveyor 17 reversing means 22 second guide member 23 operating means 25 second dividing means (dividing means) 40 First support shaft (support shaft)
42 second support shaft (support shaft), 44 width adjusting means, S1 article alignment section (article holding section)
S2 Goods transfer section

Claims

搬送方向に一列で並んで搬送される複数の物品の並び方向と交差する方向に複数列で物品を並べて物品移載部に移載する物品移載装置において、
前記一列で並ぶ物品を複数個ずつに分けて保持する第１保持手段および第２保持手段と、
前記一列で並ぶ物品を保持する前記第１保持手段と第２保持手段とが搬送方向の前後で隣り合う端側において各保持手段を回動可能に支持する支持軸と、を備え、
該支持軸回りに前記第１保持手段および第２保持手段を相互に反対方向に回転し、
前記第１保持手段と第２保持手段とで保持した物品を前記一列で並ぶ物品の並び方向と交差する方向で複数列に並んだ物品として前記物品移載部に移載するよう構成した
ことを特徴とする物品移載装置。 An article transfer device for arranging articles in a plurality of rows in a direction crossing the arranging direction of a plurality of articles conveyed in a row in a conveying direction and transferring the articles to an article transfer section,
a first holding means and a second holding means for holding a plurality of the articles arranged in a line separately;
a support shaft that rotatably supports each of the holding means on an end side where the first holding means and the second holding means for holding the articles arranged in a row are adjacent in the front and rear in the conveying direction;
rotating the first holding means and the second holding means about the support shaft in directions opposite to each other;
The articles held by the first holding means and the second holding means are transferred to the article transfer section as articles arranged in a plurality of rows in a direction crossing the arrangement direction of the articles arranged in one row. An article transfer device characterized by:

前記物品移載部は、物品を搬送方向に並べて搬送する搬送コンベヤの側方に設けられ、
前記搬送コンベヤにより搬送される複数の物品を保持した第１保持手段および第２保持手段を、前記物品移載部に向けて移動しつつ前記支持軸回りに相互に反対方向に回転して、保持した物品を前記一列で並ぶ物品の並び方向と交差する方向で複数列に並ぶように構成したことを特徴とする請求項１記載の物品移載装置。 The article transfer section is provided on the side of a conveyer that conveys articles arranged in a conveying direction,
The first holding means and the second holding means holding a plurality of articles conveyed by the conveyer are moved toward the article transfer section and rotated about the support shaft in opposite directions to hold the article. 2. The article transfer apparatus according to claim 1, wherein the articles are arranged in a plurality of rows in a direction crossing the direction in which the articles are arranged in one row.

前記第１保持手段および第２保持手段により物品を保持する物品保持部に搬送される複数の物品を、各保持手段で保持する保持数ごとに分割する分割手段と、
前記第１保持手段に保持した物品と第２保持手段に保持した物品との列の間隔を縮めるように、前記第１保持手段および第２保持手段を相対的に近接させる幅寄せ手段と、を備えたことを特徴とする請求項１または２記載の物品移載装置。 a dividing means for dividing the plurality of articles conveyed to the article holding portion holding the articles by the first holding means and the second holding means by the number of holding held by each holding means;
a means for moving the first holding means and the second holding means relatively close to each other so as to reduce the distance between the rows of the articles held by the first holding means and the articles held by the second holding means; 3. The article transfer device according to claim 1, further comprising:

物品の搬送方向と交差する両側に位置し、搬送方向に並んで搬送される物品の側方を案内するガイド部材と、
該ガイド部材を、物品の側方を案内する案内位置と、該物品から離間する解除位置とに移動する作動手段と、を備え、
該作動手段は、前記第１保持手段および第２保持手段により複数の物品が保持されると、前記ガイド部材を案内位置から解除位置に移動して物品の前記物品移載部への移動を許容するよう構成したことを特徴とする請求項１～３の何れか一項に記載の物品移載装置。 guide members positioned on both sides intersecting the conveying direction of the article and guiding the side of the article conveyed side by side in the conveying direction;
actuating means for moving the guide member to a guide position for guiding the side of the article and a release position for separating from the article;
When the plurality of articles are held by the first holding means and the second holding means, the operating means moves the guide member from the guide position to the release position to allow the movement of the articles to the article transfer section. 4. The article transfer device according to any one of claims 1 to 3, characterized in that it is configured to

前記物品は、上面と底面とで大きさが異なり、
前記ガイド部材より搬送方向の上流側で物品を上下反転させる反転手段を備え、
該反転手段は、搬送方向に並ぶ複数の物品が、隣同士で上面と底面の向きが交互となるように物品を反転するよう構成したことを特徴とする請求項４記載の物品移載装置。 The article has different sizes on the top surface and the bottom surface,
Inverting means for vertically inverting the article on the upstream side of the guide member in the conveying direction,
5. The article transfer apparatus according to claim 4, wherein the reversing means is configured to reverse a plurality of articles arranged in the conveying direction so that the orientations of the upper surface and the bottom surface of adjacent articles alternate.