JP2017095282A - Article transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a new article transfer device capable of performing packing work to a container even in a narrow place and performing the packing work and replacing work of containers simultaneously.SOLUTION: An article transfer device comprises: a conveyance unit for sending articles to a work area; a feed unit for feeding containers to the work area; a robot for storing the articles sent to the work area in the container fed thereto; and a discharge unit for discharging the container storing the articles from the work area. The work area is divided into a first work area and a second work area across the conveyance unit. The feed unit has a first path for feeding the containers to the first work area from below, and a second path passing from the first path below the conveyance unit for feeding the containers to the second work area from below. The discharge unit of the container in which the articles are stored in the first work area is a part of the second path passing under the conveyance unit to below the container in the second work area.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an article transfer device that packs articles such as lunch boxes and side dishes into a weight as a delivery container.

Lunch boxes and side dishes sold at convenience stores are manufactured at pack centers and the like, brought into a distribution center, and sorted and distributed by store.
On the other hand, in the pack center, in order to process the manufactured lunch boxes and the like in a short time, when the food is placed on the container, the transport center (hereinafter referred to as a container) is packed into a transport container (hereinafter referred to as a container). Transport to.

  Therefore, in the pack center, a preparation line for placing food in a container and a subsequent container stuffing line are provided, and a plurality of workers are arranged in each.

  However, such a pack center has a problem that it is difficult to secure daily workers because lunch boxes and the like are manufactured early in the morning and late at night. For this reason, for example, a “food placement robot” represented by Patent Document 1 below, a “loading system, container transfer device” and the like represented by Patent Document 2 have been developed and put to practical use.

Japanese Patent No. 36060217 JP, 2006-78997, A

  However, various problems arise when trying to coexist a non-automated serving line and an automated line for storing a lunch box sent from the serving line in a container by a robot. For example, in a line that is not automated, lunch boxes and the like are not sent out at a fixed period, and most of them are sent out together or a short amount is sent out later. Therefore, in the downstream automation line, as disclosed in Patent Document 2, when storing a lunch box or the like while transporting the container in a single row column, the container of the single row column is used until a series of operations are completed. Since it stays on the transport line, there is a problem in that loading of a full container onto a delivery truck is delayed.

  In addition, in the system and apparatus described in the above-mentioned patent document, since the conveyor for transporting the container is arranged in a plane, it is easy to introduce it into a new pack center, but in existing lines that are narrow with equipment, There is a problem that it is difficult to introduce.

  The present invention has been developed in view of the current situation, and even if lunch boxes are transported together from upstream, they can be processed efficiently, and if the container is full, it will be on the line. It is an object of the present invention to provide a compact article transfer device that can be immediately delivered for delivery without being fastened, and can be introduced even in a narrow existing line.

The article transfer device according to the first invention is:
A transport unit for sending articles to the work area;
A supply unit for supplying containers to the work area;
A robot that stores articles sent to the work area in the container;
A discharge unit for discharging a container in which the article is stored by the robot from the work area;
A control unit for controlling the supply unit and the discharge unit,
The work area is divided into a first work area and a second work area,
The control unit controls the discharging unit to discharge a container storing articles from the other work area while the robot stores articles in the container in one work area, and The supply unit is controlled to supply a new container to the work area.

  FIG. 1 is a layout diagram for explaining the configuration of the first invention. In this figure, an article transfer device 100 includes a transport unit 1 that sends an article M to a work area E, a supply unit 2 that supplies a container C to the work area E, and an article M that is sent to the work area E. Controlling the robot 3 that stores the container C supplied to the work area, the discharge unit 4 that discharges the container Cm in which the article M is stored by the robot 3 from the work area E, and the supply unit 2 and the discharge unit 4 And a control unit 5 for performing the above operation. In FIG. 1, a line indicated by a solid line and an arrow indicates a path through which the container C is supplied, and a broken line and a line indicated by the arrow indicate a path through which the container Cm in which the article M is stored is discharged. .

  The article M handled here is, for example, a lunch box or a side dish packed in a container, but is not limited thereto. A work area E (an area surrounded by an alternate long and short dash line including the robot 3) is an area where the robot 3 lifts the article M on the transport unit 1 and stores it in the container C. Accordingly, the robot 3 is disposed in the work area E, the transport unit 1 that feeds the article M toward the work area, the supply unit 2 that feeds the container C, and the discharge that discharges the container Cm in which the article M is stored. Part 4 is connected. Here, the conveyance unit 1, the supply unit 2, and the discharge unit 4 are each configured by a conveyor, and they may be arranged in a planar manner. As will be described later, the supply unit 2 and the discharge unit 4 are arranged in a work area. An empty container C is arranged from the lower side toward the work area E, and the container Cm filled with the article M is discharged downward and then discharged. Also good.

  The work area E is divided into a first work area E1 and a second work area E2, and the control unit 5 controls the robot 3 while the article M is stored in the container C in one work area E1 (or E2). Then, the discharge unit 4 is controlled to discharge the container Cm in which the article M is stored from the other work area E2 (or E1). Subsequently, the control unit 5 instructs the supply unit 2 to supply a new container C to the work area E2 (or E1).

  Thereby, the operation of storing the article M in the empty container C and the replacement operation of the container Cm in which the article M is stored and the empty container C are alternately switched between the two work areas E1 and E2. it can. Moreover, since they can be performed in parallel, even if the article M is conveyed in large quantities, it can be processed quickly. Further, as in the prior art, the container Cm in which the article M is stored can be immediately discharged without being kept on the line and sent for delivery. Therefore, there is a merit that the delay in upstream work is not increased on the downstream side. is there.

  The container C supplied by the supply unit 2 is an empty container in which the article M is not stored and a container in which some other articles are stored but there is still room for storing the article M. Therefore, in the following description, these containers may be referred to as empty containers. In addition, when the transport unit 1 transports lunch boxes, prepared foods, and the like, a serving line such as a lunch box is connected to the upstream side of the transport unit 1.

  In FIG. 1, the first work area E1 and the second work area E2 are arranged on both sides of the transport unit 1, but this is an example, and the present invention is not limited to this. For example, the work areas E1 and E2 may be arranged side by side, and the conveyance unit 1 may be placed next to them. Further, in FIG. 1, the container C is supplied to each work area E1, E2 from one branched supply unit 2, but this is also an example, and a separate supply is provided for each work area E1, E2. The structure which provides the part 2 may be sufficient. The same applies to the discharge unit 4.

The article transfer device according to the second invention is
A transport unit for sending articles to the work area;
A supply unit for supplying containers to the work area;
A robot for storing articles sent to the work area in the container;
A discharge unit that discharges the container in which the article is stored by the robot from the work area,
The work area is divided into a first work area and a second work area across the transport unit,
The supply unit includes a first path for supplying the container to the first work area, and a second path for supplying the container to the second work area. The second path and the first path The route is characterized in that a part of the route is shared.

  In FIG. 1, if a separate supply unit is provided in each work area E1, E2, the occupied area of the apparatus 100 increases, so in the second invention, the container C is supplied from one supply unit to each work area E1, E2. Like to do. Referring to FIG. 1, the supply unit 2 has a first route R1 for supplying the container C to the first work area E1 and a second route R2 for supplying the container C to the second work area E2. In addition, a part of those routes is shared to achieve compactness.

  Specifically, the first route R1 is composed of a conveyor 20 that sends the empty container C sent into the apparatus 100 to the first work area E1, and the second route R2 branches from the conveyor 20 and from there. The conveyor 21 reaches the second work area E2. Thereby, the container C supplied to the conveyor 20 can be sent to both the first work area E1 and the second work area E2. Of course, this configuration can also be applied to the first invention.

  Similarly, providing the discharge unit 4 for each of the work areas E1 and E2 increases the occupation area. Therefore, in the first and second inventions, the container Cm in which the article M is stored from the first work area E1. The discharge section 4 that discharges the air is shared with the second route R2 from the adjacent position of the first work area E1 to the adjacent position of the second work area E2.

  Specifically, in FIG. 1, the container Cm filled in the first work area E1 is discharged out of the apparatus via the conveyor 20 and the conveyor 21. The second path R2, which constitutes the second path R2, is a supply path for the empty container C, and becomes a discharge path for the full container Cm, thereby further reducing the size of the apparatus. .

Since the robot 3 of the first invention and the second invention just lifts the article M from the transport unit 1 and transfers it to the container C, the robot 3 may be disposed at any basic point. . However, in order to operate the robot 3 efficiently, it is necessary to minimize the movable range of the robot arm so that the robot 3 can quickly move to the next action.
Therefore, in the first and second inventions, the transport unit 1 is further disposed between the first work area E1 and the second work area E2, and the robot 3 is disposed above the transport unit 1. It is characterized by.

  As a result, the first work area E1 and the second work area E2 can be arranged symmetrically with respect to the transport unit 1, so that the robot 3 lifts the article M from the transport unit 1 and puts it into a predetermined container C. The operation of storing in the position can also be configured symmetrically. Accordingly, the robot 3 can perform the stuffing operation of the articles M with a minimum movement in either of the work areas E1 and E2 only by reversing, so that the robot 3 can be moved quickly.

In the first invention and the second invention described above, the arrangement configuration of each work area, the supply unit, and the discharge unit is not limited. Therefore, these can be arranged at the same level. Occupied area increases.
Therefore, in the first and second inventions, the first route R1 is a route for supplying the container C to the first work area E1 from below, and the second route R2 is the first work area E1 and the transport unit 1. It is characterized by being a path through which the container C is supplied to the second work area E2 from below.

  FIG. 2 shows an example in which the work area E of the robot 3, the supply unit 2 that supplies the container C to the work area E, and the discharge unit 4 that discharges the container Cm therefrom are arranged in a three-dimensional manner. In FIG. 2, the transport unit 1 is disposed between the first work area E1 and the second work area E2, and the robot 3 is transported between the first work area E1 and the second work area E2. 1 is disposed at an upper position. And 1st path | route R1 is comprised with the conveyor 20 which makes the container C penetrate | invade below the 1st work area E1, and the lift 22 which raises the container C from there to the 1st work area E1, 2nd path | route R2 is Consists of the conveyor 20, a conveyor 21 that extends under the transport unit 1 and below the second work area E 2, and a lift 23 that raises the container C from the terminal end of the conveyor 21 to the second work area E 2. Has been.

  In addition to the above configuration, the discharge unit 4 for discharging the container Cm from the first work area E1 further includes a second route R2 from the adjacent position of the first work area E1 to the adjacent position of the second work area E2. It is characterized by being shared.

  In such a configuration, when the empty container C is fed onto the conveyor 20, the control unit 5 (not shown) operates the conveyor 20 to convey the empty container C to below the first work area E1, and then lifts it. 22 is operated to raise the empty container C to the first work area E1. Subsequently, when a new empty container C is sent from the stacked empty containers, the control unit 5 operates the conveyor 20 and the conveyor 21 to move the sent empty containers C to below the second work area E2. Subsequently, the lift 23 is operated to raise the empty container C to the second work area E2.

  Thus, when the container C is supplied to the first work area E1 or the second work area E2, and the article M is sent from the container 1, the robot 3 lifts the article M on the conveyor 1. It is stored in container C. Then, when the container C is full, the container Cm filled in the first work area E1 is lowered onto the conveyor 20 via the lift 22, and from there under the conveying unit 1 via the conveyor 21. It passes under the second work area E2 and is discharged out of the apparatus.

  In this way, the robot 3 is arranged in the first work area by arranging the work areas E1 and E2 of the robot 3 and the route for supplying the container C to the robot 3 and discharging the container Cm therefrom. While working in E1, a new empty container C can be supplied to the second work area E2 under the first work area E1, and the robot 3 can move in the second work area E2. While working, the container Cm filled in the first work area E1 can be discharged out of the apparatus under the second work area E2, so the area occupied by the apparatus 100 is reduced. Therefore, it can be introduced into a narrow existing line.

  Further, in addition to the above configuration, the supply unit 2 is connected to a leveling device 6 that takes out the containers C from the stacked containers C one by one, and the discharge unit 4 has a container in which the articles M are stored. A stacking device 7 for stacking Cm one by one is connected.

  Thereby, the empty container C taken out from the disposing apparatus 6 can be supplied to the apparatus 100 one after another simply by connecting the separating apparatus 6 to the article transferring apparatus 100, and the container Cm in which the article M is stored is: Since stacking can be performed by the stacking device 7 connected to the device 100, the installation area of the device 100 and the stacking device 6 and the stacking device 7 connected to the device 100 can be minimized, and the existing equipment becomes narrow. The apparatus 100 can be installed even in a different place.

  In FIG. 2, assuming that the side on which the article M is carried into the apparatus 100 is the front side, a leveling apparatus 6 indicated by a two-dot chain line is connected to the left side, and the container C taken out from the apparatus C is put into the apparatus 100. Although the first route R1 is drawn so as to be carried in, this is only an example, and for example, a staging device 6 is connected to the back or front of the device according to the layout of the factory where the device 100 is installed. From there, the container C can be carried into the apparatus one box at a time. Similarly, the stacking device 7 can also be connected to the back and front of the device 100 according to the factory layout. Of course, the same applies to FIG.

  The container C used here is, for example, a fixed container formed of resin, cardboard, or the like, and a plurality of articles M can be stored in a lined state there. Further, if the directions of the containers C are matched, the containers C can be stacked densely, and if the directions are alternately changed, they can be stacked while leaving a space for storing articles. . Therefore, the stacking device 6 shows a state where the empty containers C are densely stacked, and the stacking device 7 shows a state where the empty containers C are stacked leaving the space in which the articles M are stored. The position where the article M is packed into the container C is determined in advance by the size of the article M and the size of the container C, and the information is stored in the robot 3.

  The robot 3 lifts the article M, moves it three-dimensionally, and opens the article at a predetermined position of the container C. As the grip portion 30 for gripping the article M, an appropriate one is used according to the properties of the article M. For example, when the article M can be sucked with a suction cup, as shown in FIG. 2, a suction device having a plurality of suction cups is used, and when the suction cup cannot be used, a finger type gripped with a finger is used.

  In addition, the robot 3 includes a mass measuring device 31 (see FIG. 2) that detects the mass of the article M while lifting it. If the output of the mass measuring device 31 is abnormal, the robot 3 has lifted or failed to lift. An article is returned to the transport unit 1 as a defective product.

  This mass measuring device 31 is a practical application of the technology described in Japanese Patent Application Laid-Open No. 2013-079931. Based on the output of the mass measuring device 31, the robot 3 has an excess or deficiency in the lifted article M. It is programmed to determine whether or not there is an excess or deficiency and return it to the transport unit 1 as a defective product. Further, when it is determined from the output of the mass measuring device 31 that the article M could not be lifted, the robot 3 conveys the article M that has not been grasped, assuming that the container is not completely covered with the lid. Programmed back to part 1.

In addition, when the lid packed in the container is not covered with the lid, the robot 3 provided with the suction device cannot lift it, and the mass measuring device 31 detects it as a gripping error. In that case, the robot 3 lifts the subsequent article M and stores it in the container C. As a result, the container C is filled with a predetermined number of normal articles M.
In addition, the article M that the robot 3 did not lift as a defective product, or the article M returned to the transport unit 1 as a defective product is stored in a stock area (not shown) connected to the downstream side of the transport unit 1. It has become.

Next, the operation of the apparatus 100 of FIG. 2 will be described.
In use, first, the spreader 6 and the supply unit 2 are operated to supply the empty container C to the first work area E1, and then the empty container C is also supplied to the second work area E2 to enter a standby state. enter. At this time, the lifts 22 and 23 stand by in the work areas E1 and E2 with the container C lifted. Therefore, the subsequent container C can be passed through the first path R1 and the second path R2 below the containers lifted by the lifts 22 and 23. When the transport unit 1 is activated and the articles M are sequentially sent to the work area E, the robot 3 lifts it up to a predetermined position of the empty container C when the article M reaches a predetermined position on the transport unit 1. I will store it. In that case, a plurality of articles M sent one after another may be gripped and stored in the container C, or the articles M may be gripped one by one and stored in the container C. Further, an article detection sensor (not shown) is provided at the entrance of the work area E on the transport unit 1, and the robot 3 is operated based on the detection signal.

  Thus, when the container C in the first work area E1 is full, the robot 3 continues to store the articles M in the container C in the second work area E2 on the opposite side. Meanwhile, the full container Cm is lowered from the first work area E1, and a new empty container C is supplied to the first work area E1 so as to replace it. Further, the full container Cm lowered from the first work area E1 passes through the lower part of the transport unit 1 and further passes under the second work area E2 and is discharged by the discharge conveyor 40. At this time, since the container C in the second work area E2 is lifted by the lift 23, the full container Cm can pass under the second work area E2.

  When the container C in the second work area E2 is full, the full container Cm is lowered and discharged from the container Cm so that the empty container C passes under the first work area E1 and is replaced therewith. It passes under the conveyance part 1 and is supplied to the second work area E2. At this time as well, the container C in the first work area E1 is lifted by the lift 22, so that the subsequent empty container C can pass thereunder. In the meantime, the robot 3 stores the articles M in the empty container C in the first work area E1.

  In this way, while the robot 3 is performing the stuffing work in one work area E1 (or E2), in the other work area E2 (or E1), the container Cm containing the article M is discharged. The empty container C is supplied. Therefore, even if the articles M are successively sent from the transport unit 1, the robot 3 can process them with a margin.

  According to the first invention, the operation of stuffing the article by the robot and the replacement operation of the container in which the article is stored and the empty container can be performed alternately and in parallel in the two work areas. Even if it is transported in large quantities, it can be processed quickly. In addition, since the container storing the articles can be immediately discharged out of the apparatus and loaded on a delivery truck or the like without being held in the work area, there is a merit that the work delay caused on the upstream side is not increased on the downstream side. is there.

  According to the second invention, since the container is supplied to each work area from one supply unit, the installation area of the apparatus can be reduced. Furthermore, since the robot work area and the route for supplying and discharging containers to and from the container have a three-dimensional layout, it passes under the first work area where the robot is working. New empty containers can be supplied to the second work area, and the containers filled in the first work area can be discharged under the second work area where the robot is working. it can. Therefore, the installation area of the apparatus can be made compact as compared with the conventional apparatus in which the conveyor is arranged in a plane, so that it can be introduced into a narrow existing line.

Explanatory drawing for demonstrating the structure of 1st invention. Explanatory drawing for demonstrating the structure of 2nd invention. The external appearance perspective view which looked at the article transfer apparatus provided with the characteristic element of each invention from the front. The partial external appearance perspective view which looked at the said article transfer apparatus from the back side. The perspective view which abbreviate | omitted the apparatus frame of FIG. 3, and looked at the principal part from the back side. The perspective view which looked at FIG. 5 from the diagonally front left side of the apparatus. The perspective view which looked at FIG. 5 from the front diagonal right side of the apparatus. The perspective view of the state which looked at the container supplied to each work area from the downward direction. The perspective view which showed the structure below each work area of FIG. The block diagram of the control system of the article transfer apparatus of FIG.

  Hereinafter, an embodiment of an article transfer device including characteristic elements of each invention will be described with reference to FIGS. In addition, this embodiment is an example and does not limit the technical scope of each invention. Moreover, in the following description, the same code | symbol is attached | subjected to the same component as FIG. 1, FIG.

  FIG. 3 is an external perspective view of the article transfer apparatus 100 according to an embodiment as viewed from the front side, and FIG. 4 is an external perspective view of the article transfer device 100 as viewed from the back side. In these drawings, on the front side of the apparatus 100, an inlet 10 is provided for carrying an article M such as a lunch box conveyed from the serving line into the apparatus 100. The inlet 10 is provided with the conveyance shown in FIGS. The belt conveyor 11 as the part 1 is connected. Sensors S for detecting the articles M are provided on both sides of the belt conveyor 11 at a predetermined distance from the entrance 10. This sensor S is composed of, for example, a light projector and a light receiver that are arranged opposite to each side of the belt conveyor 11, and when the light irradiated from the light projector is blocked by the article M, the light receiver detects it. It is like that. The article detection signal is input to the control unit 5 described later, and the control unit 5 operates the robot 3 based on the signal.

  A first work area E1 is provided on the left side of the belt conveyor 11, and a second work area E2 is provided on the right side. Each work area E1, E2 is an area in which the article M conveyed by the belt conveyor 11 is stored in the container C of each work area E1, E2 by the robot 3. Therefore, as shown in FIGS. 5 to 7, a support base 32 is installed in a state of straddling the belt conveyor 11 at an intermediate position between the work areas E <b> 1 and E <b> 2, and the robot 3 is attached thereon.

  As shown in FIGS. 5 to 7, the robot 3 is a four-axis horizontal articulated robot, and the first arm 33 that rotates in the horizontal plane and the rotation end of the first arm 33 are also in the horizontal plane. A second arm 34 that rotates at a rotating end of the second arm 34, a third arm 35 that moves up and down, a servo motor (not shown) that rotates the third arm 35 about a vertical axis, and a third arm 35. And a suction portion 36 that is rotated in a horizontal plane by the servo motor. And if the 1st arm 33 and the 2nd arm 34 are extended on a straight line, the adsorption | suction part 36 will be designed to reach every corner of the 2nd work area E2 from the 1st work area E1. The third arm 35 that lifts and lowers the suction portion 36 lifts the article M from the belt conveyor 11 by the servo motor, lowers the article M in the container C, and rises when the bottom of the article M arrives at the container C. It is programmed to turn.

  The suction part 36 corresponds to the article gripping part 30 in FIG. 2, and in this embodiment, twelve suction disks 37 for sucking the article M are arranged. The suction disk 37 is constituted by a bellows type suction pad for sucking and holding the article M, and a set of four adjacent suction disks 37 holds and holds one article M. Accordingly, three articles M are conveniently held side by side by the suction portion 36. Further, the four suction plates 37 for sucking and holding one article M are connected to the vacuum chamber via one electromagnetic valve, and when lifting the article M, the set of four suction boards 37 are switched to negative pressure. When the articles M are opened, they are opened to the atmosphere.

  Since the articles M are sent to the belt conveyor 11 one by one from the upstream assembling line at regular intervals, the robot 3 lifts the article M with the four suction plates 37 at the end, and when the next article M arrives, the middle. The four suction discs 37 are lifted, and when the next article M arrives, the remaining four suction discs 37 are programmed to lift it. Therefore, for example, as shown in FIG. 5 to FIG. 7, when the articles M are stored in three rows and four rows in the container C, the robot 3 sucks and holds the three articles M up to the container C. Then, the negative pressure of the suction plate 37 is released to the atmosphere, and the article M is stored in the container C. This operation is repeated four times so that twelve articles M are conveniently stored in one container C.

  A mass measuring device 31 shown in FIG. 2 for obtaining the mass of the lifted article M from the force acting on the moving suction portion 36 and the acceleration is attached between the third arm 35 and the suction portion 36. Based on the output of the mass measuring device 31, the robot 3 determines whether the lifted article M is excessive or insufficient, and if there is an excess or shortage, returns it to the belt conveyor 11 as a defective product. When it is determined from the output of the mass measuring device 31 that the article M could not be lifted, the robot 3 assumes that the container M of the article M is not completely covered with the lid, and the robot 3 belts the article M that has failed to grasp. After returning to the conveyor 11, it is programmed to lift the next article M to be sent. Note that the article M returned to the belt conveyor 11 dives under the support base 32 and is conveyed to a downstream stock area (not shown) where it is collected.

In addition, on the back side of the apparatus 100, as shown in FIG. 4, a stacking area 2a in which stacked empty containers C are placed and a stacking area in which containers Cm in which articles M are stored are stacked are stocked. 4a. In the stacking area 2a, there is provided a stacking device 6 for taking out the stacked empty containers C one box at a time from the lowest stage, and in the stacking area 4a, containers Cm in which articles M are stored are stacked. A stacking device 7 is provided to be inserted into the lowermost stage of the conveyor Cm. Accordingly, the worker first places empty containers stacked in the spreading area 2a, and replenishes new empty containers before the empty containers disappear.
Note that the leveling area 2a is provided with a container sensor 50 of FIG. 10 that detects that an empty container C has been supplied to the leveling area 2a. The unloading device 6 operates, and the stacking device 7 shown in FIGS. 5 to 7 includes a lift 9 for lowering the container Cm stacked at a higher position to a cart level (not shown). Is connected.

  The leveling device 6 includes a pair of parallel roller conveyors 20 that move up and down, a pair of holders 61 that hold the second container C of the stacked container C lifted upward from both sides, and the lowest container And a pusher 24 for pushing out C. When the lowermost container C is taken out, the roller conveyor 20 is raised, the stacked container C placed thereon is lifted to a predetermined position, and then the retainer 61 holds the second container C. In this state, the roller conveyor 20 is lowered. Then, in a state where the second and higher stacked containers C are held by the holder 61, only the lowest container C remains on the roller conveyor 20 and descends. When the roller conveyor 20 is lowered to the lower limit position, the pusher 24 is operated to push out the lowermost container C placed on the roller conveyor 20 from the leveling device 6. By repeating these operations, the stacked empty containers C are taken out one box at a time from the lowermost stage.

  In addition, a rotation plate 62 that changes the direction of the empty container C by 180 degrees is incorporated in the spreading device 6. When the containers C for storing articles are stacked in the same direction, they can be densely stacked like the empty container C of FIG. 4, and when the directions are alternately changed, the containers C are stored inside like the container Cm of FIG. Can be stacked, leaving a space that can be stored. For this reason, the leveling device 6 is provided with a sensor (not shown) for detecting the direction of the container C on the roller conveyor 20, and when the direction of the container C needs to be changed from the detection signal, the rotating plate 62 is provided with the container C. After lifting up and rotating 180 degrees, it is lowered onto the roller conveyor 20. By repeating this operation every other time, the orientations of the containers C before and after are alternately changed. Accordingly, when the containers C whose directions are alternately changed are discharged to the stacking device 7 in this state, the containers C are stacked while leaving a space in which the articles M can be stored, as shown in FIG. It will be.

  The stacking device 7 basically has the same structure as the stacking device 6, and the containers C are stacked one by one by changing its operation control. For example, when the container C is carried into the last stage roller conveyor 20 of the stacking device 7, the roller conveyor 20 lifts it to a predetermined position and holds it with a pair of right and left similar cages. In this state, the roller conveyor 20 descends and waits for a newly fed container Cm. When the next container Cm is fed into the roller conveyor 20, the roller conveyor 20 rises again and lifts the container Cm. At that time, the roller conveyor 20 stops at the timing when the upper surface of the lifted container Cm reaches the bottom surface of the container Cm held by the cage. Subsequently, the upper container Cm overlaps the lower container Cm when the retainer retreats from the holding position. Subsequently, the roller conveyor 20 moves up again and stops at a predetermined holding position where the cage is located. Then, the retracted cage pops out and holds all the stacked containers Cm. By repeating these operations, a new container Cm is inserted and stacked under the stacked containers Cm. Therefore, since the bottom surface of the lowest layer of the stacked containers Cm is at a higher level, the above-described lift 9 is prepared to lower this to the carriage level.

  5 to 7, the first work area E1 is provided with an opening H for supplying the empty container C from below, and a first path R1 for supplying the article M from below is formed therein. Yes. The first path R1 includes a first support base 25a that receives an empty container C sent from the separation device 6 on the back side of the apparatus, and a container C placed on the first support base 25a to the first work area E1. It is comprised by the 1st lift 22a to raise. The empty container C is supplied to the first support base 25 a by pushing out the empty container C placed on the roller conveyor 20 with the pusher 24 by the leveling device 6. Therefore, when the pusher 24 moves to the stroke end, the empty container C is at a predetermined position of the first support base 25a, and the pusher 24 is moved backward there, so that the empty container C is at a predetermined position of the first support base 25a. It comes to stop.

  The first support base 25a has a plurality of gate-shaped frames extending in the direction of the second path R2 of the container C arranged in a direction perpendicular to the first frame. A first pusher 24a that moves in a direction orthogonal to the first path R1 and an actuator 24C that reciprocates the first pusher 24a to the front of the second support base 25b are inserted and arranged. A pair of cantilever brackets 22B of the first lift 22 shown in FIG. 8 is housed in the gap formed by the portal frames on both sides so as to be able to protrude and retract in the vertical direction. When the first pusher 24a moves to the stroke end, the empty container C on the first support base 25a stops at a predetermined position on the second support base 25b. Further, the actuator 24C for driving the first pusher 24a has the same configuration as the actuator 24C for driving the pusher 24 of the spreading device 6, and therefore, the same reference numerals are given here.

  The first lift 22 includes a pair of cantilever brackets 22B that support the bottom surface of the container C, an actuator 22C that raises and lowers the brackets 22B, and a cantilever bracket 22B as shown in FIG. The linear guide 22D is configured to guide in a vertical direction while being held in a fixed posture. In the initial position, the cantilever bracket 22B is buried between the gate-shaped frames of the first support base 25a, and when the actuator 22C is activated to move up, the empty container C placed on the first support base 25a is removed. Lift while supporting from below. Thus, after the empty container C is lifted up to the first work area E1, it waits for the articles M to be stored therein, and descends when the container C is full. Therefore, since the lower part is opened while the container C is lifted to the first work area E1, the subsequent empty container C pushed out from the leveling device 6 passes through the first support base 25a. It can move to the lower part of the next second work area E2.

  5 and 6, the pusher 24 of the spreading device 6 is configured to linearly reciprocate to the front of the first support base 25a while pushing the lower portion of the side surface of the container C by driving the actuator 24C. The actuator 24 </ b> C is configured by a rodless air cylinder having the same structure as the actuator 22 </ b> C of the first lift 22. Further, for example, a ball screw mechanism or a linear motor can be used instead of the rodless air cylinder.

  When discharging the container Cm filled in the first work area E1, it is lowered to the first support 25a by the first lift 22 and passes through the lower part of the belt conveyor 11 and the lower part of the second work area E2. Thus, the sheet is discharged through a second path R2 having an L shape in plan view that reaches the stacking device 7 on the rear surface of the device.

  As shown in FIG. 5 to FIG. 7 and FIG. 9, the second path R <b> 2 includes a first support base 25 a disposed below the first work area E <b> 1 and a container C lowered there of the belt conveyor 11. A first pusher 24a that pushes down to the second support base 25b, a first roller conveyor 20 that is disposed below the belt conveyor 11 and supports the container C pushed out there, and below the second work area E2. And a second pusher 24b for pushing out the container C placed on the second support base 25b to the stacking device 7 on the back side of the apparatus.

  The roller conveyors 20 of the first support base 25a and the second support base 25b, the first pusher 24a and the second pusher 24b, and the stacking device 6 and the stacking device 7 used here have the same configuration. Moreover, each conveyance surface of the roller conveyor 20 from the roller conveyor 20 to the 1st support stand 25a, the roller conveyor 21 to the 2nd support stand 25b following it, and the subsequent stacking apparatus 7 is set to the same level. Thereby, the container C can be smoothly conveyed from 1st path | route R1 to 2nd path | route R2.

  The supply of the empty container C to the second work area E2 is performed using a part of the first route R1 and the second route R2. That is, the empty container C pushed out from the leveling device 6 is fed onto the first support base 25a of the first path R1 and then passed through the first pusher 24a of the second path R2 and the roller conveyor 21. It is sent to the support base 25b. Subsequently, the second lift 23 raises the empty container C placed on the second support base 25b and supplies it to the second work area E2. The second lift 23 used here has the same configuration as the first lift 22.

  Further, the container Cm filled in the second work area E2 is lowered to the second support base 25b by the second lift 23, and then the second pusher 24b pushes the container Cm, and the roller conveyor 20 of the stacking device 7 is moved. Push until. In the stacking device 7, as described above, the container Cm in which the articles M are stored is inserted into the lower layer of the stacked container Cm.

  The stacking device 7 is provided with an extrusion panel 70 that pushes the stacked containers Cm toward the downstream lift 9. The panel 70 is connected to a rodless air cylinder 71 and moves in the horizontal direction, and is supported by three linear guides 72 in the vertical and horizontal directions so as to move in parallel. Even if the container Cm in which the article M is stored is stacked in a plurality of stages, the extrusion panel 70 can smoothly push the container Cm onto the lift 9.

  Further, when the stacked containers Cm are placed on the lift 9, the loading table 90 of the lift 9 is raised to the discharge level of the stacked containers Cm, and then the extrusion panel 70 is moved to stack the stacked containers Cm. Is pushed out to the mounting table 90 of the lift 9. In addition, the upper end of the back panel 91 of the mounting table 90 becomes the above-mentioned discharge level. Accordingly, air cylinders 92 that raise and lower the mounting table 90 to the discharge level are provided on both sides of the mounting table 90.

  FIG. 10 shows a configuration block diagram of a control system of the article transfer apparatus 100. In this figure, the control unit 5 controls the article transfer device 100 and is constituted by a computer. The control unit 5 includes the robot 3, the belt conveyor 11, the sensor S for detecting the article M on the belt conveyor 11, the stacking device 6, the stacking device 7, the container sensor 50, the first lift 22, the second The lift 23, the first pusher 24a, and the second pusher 24b are electrically connected to each other, and each operation described later is executed by reading and executing a built-in program.

Next, each operation | movement of the article transfer apparatus 100 by this control part 5 is demonstrated.
First, as an initial setting, the robot 3 stores an article stuffing procedure determined based on the container size and the article size. Moreover, the conveyance speed of the belt conveyor 11 is set according to the operation speed of the upstream arrangement line. In this state, the worker first accumulates a plurality of stacked empty containers C in the separation area 2a.

  In this state, when the operation start key of the operation unit 51 in FIG. 1 is operated to start the operation, the control unit 5 first checks the container sensor 50, and the container C is set in the spreading area 2a. Check if it exists. If the container C is set, an operation command is output to the spreading device 6. Upon receiving the operation command, the leveling device 6 raises the roller conveyor 20 to lift the stacked empty containers C to a predetermined position, and then the retainer 61 operates to move the second and higher level stacked containers C. Hold. Subsequently, when the roller conveyor 20 descends and stops at the lower limit position, the control unit 5 checks the direction of the container C taken out from the stacking device 6. The direction is checked by the detection output of a sensor (not shown).

  If the direction of the container C is reverse, the control part 5 raises the rotation board 62, rotates it 180 degree | times, and returns it to the original position. As a result, the lifted container C is in the opposite direction. When the orientation of the container C is thus adjusted, the control unit 5 operates the pusher 24 to push the empty container C of the roller conveyor 20 toward the first support base 25a.

  When a sensor is incorporated at the stroke end of the pusher 24 and it is output to the control unit 5 that the pusher 24 has reached the stroke end, the empty container C reaches the first support base 25a. Therefore, the control unit 5 outputs an operation command to the first lift 22. Then, the actuator 22C of the first lift 22 is operated to raise the cantilever bracket 22B to the stroke end. As a result, the empty container C on the first support base 25a is supplied to the first work area E1 and enters a standby state there.

  A sensor is incorporated in the actuator 22C of the first lift 22 as described above, and when the first lift 22 rises to the stroke end and outputs an arrival signal, the control unit 5 operates the belt conveyor 11, The next operation command is output to the spreading device 6. Then, the spreading device 6 repeats the same operation as described above, and pushes the second empty container C toward the first work table 25a.

  In the meantime, when the article M arrives at the work area by the belt conveyor 11 and the sensor S detects it, the control unit 5 reads information indicating that the container C is set in the first work area E1. The operation start command is output to the robot 3. Then, the robot 3 starts its operation, and first sucks and lifts the article M with the four suction plates 37 at the end, and waits for the next operation command while holding it at a predetermined height.

  On the other hand, when the second empty container C is sent to the first work table 25 a, an arrival signal is output from the pusher 24 to the control unit 5. The control part 5 operates the 1st pusher 24a based on it. Then, the empty container C on the first work table 25a is sent out toward the second support table 25b.

  When the first pusher 24a moves to the stroke end and an arrival signal is input to the control unit 5, the control unit 5 next operates the second lift 23. At this time, since the second empty container C is fed onto the second support base 25b, the second lift 23 raises it to the second work area E2 and stops. Thus, the second empty container C is set in the second work area E2.

  In the meantime, when the subsequent article M is conveyed by the belt conveyor 11, the control unit 5 outputs an operation command to the robot 3 using the detection signal of the sensor S as a trigger. Then, the robot 3 lifts the next article M with the next four suction disks 37 while sucking it. As a result, the robot 3 holds two articles M for convenience.

  Subsequently, when the succeeding article M is detected by the sensor S, the robot 3 lifts it while sucking it with the remaining four suction disks 37 in the same manner as described above. The robot 3 counts the number of times the article M is lifted, and when the count value reaches 3, the robot 3 moves the lifted three articles M to a predetermined position of the empty container C in the first work area E1 and descends. At that time, the suction disk 37 is opened to the atmosphere. Subsequently, the robot 3 clears the count value, returns to the initial position, and waits for the next article M to arrive.

  Thus, every time the article M is detected by the sensor S, the robot 3 lifts it and waits. When three articles M are collected, they are stored in the container C. Thus, when the container C is full of the articles M, the robot 3 confirms that the empty container C is set in the second work area E2, and then sends the next article M to be sent to the second work area. It is stored in the container C of E2.

  When the container C in the first work area E1 is full, the robot 3 outputs it to the control unit 5. Then, the control unit 5 operates the first lift 22 to lower the container Cm filled in the first work area E1 to the first support base 25a, and then operates the first pusher 24a to operate the first lifter 24a. The container Cm lowered onto the support base 25a is sent out toward the second support base 25b.

  When the actuated first pusher 24a reaches the stroke end and the arrival signal is output to the control unit 5, the control unit 5 operates the second pusher 24b to move the container Cm on the second support base 25b. It sends out to the roller conveyor 20 of the stacking apparatus 7. When the full container Cm is sent out to the roller conveyor 20 in this way, the stacking device 7 raises the roller conveyor 20 to a predetermined position and then operates a pair of retainers (not shown). Thereby, the filled container Cm is held at a predetermined position of the stacking device 7. Subsequently, the roller conveyor 20 descends to the initial position and waits for the next full container Cm.

  On the other hand, when the full container Cm is lowered from the first work area E1, an arrival signal is output from the lowered actuator 22C, so that the control unit 5 operates the leveling device 6 using it as a trigger. Then, the spreading device 6 repeats the above-described operation to push the next empty container C onto the first support base 25a. When it is pushed out, the pusher 24 of the spreading device 6 is activated, and an arrival signal is output from the actuator 24C. Then, the control part 5 operates the 1st lift 22, and supplies the empty container C on the 1st support stand 25a to the 1st work area E1.

  While doing so, the robot 3 lifts the articles M sent one after another while sucking them with the suction board 37, and when the three articles M lifted up, they are put into the container C in the second work area E2. Store it.

  When the container Cm in the second work area E2 becomes full, the robot 3 notifies the control unit 5 of this. The control part 5 operates the 2nd lift 23 based on it. Then, the container Cm held in the second work area E2 is lowered onto the second support base 25b, and then the second pusher 24b is operated, from there toward the roller conveyor 20 of the stacking device 7. Extruded.

  In this way, the replacement work of the empty container C and the filled container Cm is alternately repeated in the first work area E1 and the second work area E2, and during that time, the article M is put into the work area without interruption. Even if the robot 3 is sent, the robot 3 stores the articles M conveyed one after another in the container C while switching the work area E1 (E2).

  As mentioned above, although one Embodiment was described, it is not limited to this, Other aspects are employable. For example, in this embodiment, a horizontal articulated robot having a four-axis configuration is used, but instead, for example, a parallel link robot may be used. Moreover, although this embodiment mainly demonstrated the case where a lunch box etc. were accommodated in a container in a pack center, for example, it is applicable also when sorting a lunch box etc. into the container according to a store in a distribution center. In that case, some articles may be stored in the container supplied to the supply unit. In addition, when the container is molded in a cardboard case, a box making machine for assembling the folded cardboard into a box shape is installed instead of the spreader 6.

DESCRIPTION OF SYMBOLS 100 Article transfer apparatus 1 Conveyance part 2 Supply part 3 Robot 4 Ejection part 5 Control part 6 Stacking apparatus 7 Stacking apparatus 31 Mass measuring device M Article C Container E Work area E1 First work area E2 First work area R1 First One route R2 Second route

Claims (8)

A transport unit for sending articles to the work area;
A supply unit for supplying containers to the work area;
A robot that stores articles sent to the work area in the container;
A discharge unit for discharging a container in which the article is stored by the robot from the work area;
A control unit for controlling the supply unit and the discharge unit,
The work area is divided into a first work area and a second work area,
The control unit controls the discharging unit to discharge a container storing articles from the other work area while the robot stores articles in the container in one work area, and An article transfer device that controls a supply unit to supply a new container to the work area. A transport unit for sending articles to the work area;
A supply unit for supplying containers to the work area;
A robot for storing articles sent to the work area in the container;
A discharge unit that discharges the container in which the article is stored by the robot from the work area,
The work area is divided into a first work area and a second work area across the transport unit,
The supply unit includes a first path for supplying the container to the first work area, and a second path for supplying the container to the second work area. The second path and the first path An article transfer apparatus characterized in that a route shares part of the route.   The supply unit includes a first route for supplying the container to the first work area, and a second route for supplying the container to the second work area using a part of the first route. The article transfer apparatus according to claim 1, wherein   The article according to any one of claims 1 to 3, wherein the transport unit is disposed between the first work area and the second work area, and the robot is disposed above the transport unit. Transfer device.   The first path is a path for supplying the container to the first work area from below, and the second path passes under the first work area and the transfer unit, and the container is moved from the bottom to the first work area. The article transfer device according to any one of claims 1 to 4, wherein the article transfer device is a route that supplies the two work areas.   The discharge section for discharging a container storing articles from the first work area is shared with the second route from an adjacent position of the first work area to an adjacent position of the second work area. The article transfer device according to any one of claims 2 to 5, wherein the article transfer device is provided.   The supply unit is connected to a destacking device that takes out containers one by one from the stacked containers, and the discharge unit is connected to a stacking device that stacks containers containing articles one by one. The article transfer device according to any one of claims 1 to 6, wherein The robot is equipped with a mass measuring device that detects the mass of the article while lifting the article, and if the output of the mass measuring apparatus is abnormal, the article that has been lifted or missed is returned to the transport unit as a defective article. The article transfer device according to any one of claims 1 to 6, wherein