JP7294638B2 - Goods transfer device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an article transfer device capable of changing the arrangement and orientation of a plurality of articles arranged in a line.

Patent Document 1 proposes a transfer device that converts a plurality of articles conveyed in a line by a conveyor into an arrangement that is suitable for the shape of a box such as a cardboard box when the article is transferred to the box. there is The transfer device disclosed in Patent Document 1 includes three chuck sections capable of gripping an article, and each chuck section holds an article in a state in which the three chuck sections are arranged side by side along the article conveying direction. After picking up the articles from the conveyor, the two chuck sections on the left and right of the three chuck sections are moved in parallel so that they are aligned in the direction perpendicular to the article conveying direction with the central chuck section interposed therebetween, thereby transforming them into three rows. The goods are transferred to the box.

JP 2014-234163 A

Although the transfer apparatus disclosed in Patent Document 1 can change the arrangement of articles, it is not possible to change the orientation of the articles while changing the arrangement. cannot be changed, and it is not possible to change the arrangement of various specifications according to the shape of the box and to change the orientation of the article.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an article transfer device capable of changing the arrangement of a plurality of articles arranged in a row and changing the orientation of the articles.

The article transfer device of the invention according to claim 1 of the present application is
A plurality of articles (10) lined up in a row in an article alignment section (S1) on a conveyor (28 ) that conveys rectangular articles (10), with the longer sides of the articles (10) positioned forward and backward in the conveying direction. and transfers the article (10) to the box (32) of the article transfer section (S2),
a first holder (12) capable of holding a portion of the plurality of articles (10); a first holding means (18) comprising an advance/retreat mechanism (14) for advancing and retreating between the upper parts of the body (32) and an elevating mechanism (16) for elevating and lowering the first holder (12);
Second holders (18) provided on both sides in the direction in which the articles (10) sandwiching the first holder (18) are arranged, and capable of holding the remaining articles (10) not held by the first holders (12). 20) moves the second holder (20) between above the article aligning section (S1) and above the box body (32) of the article transfer section (S2), and the second holder (20) ) for changing the orientation of the article (10) by at least 90 degrees around the vertical axis; a second holding means (26);
The changing portion (22) includes a first arm (50) supported by the base shaft portion (48) so as to be rotatable about the vertical axis, and a first arm (50) rotatable about the vertical axis. and a robot hand (54) provided with the second holder (20) supported by the second arm (52) so as to be rotatable about a vertical axis. with
Of the plurality of articles (10) lined up in the article arranging section (S1), the plurality of articles (10) excluding at least both ends are grouped together by the first holder (12) of the first holding means (18). The second holders (26) of the second holding means (26) on the corresponding side hold the articles (10) remaining on both sides of the plurality of articles (10) held by the first holders (12). 20), the plurality of articles (10) held by the first holder (12) are picked up from the article alignment section (S1) and moved above the box (32) of the article transfer section (S2). Then, the article (10) held by the second holder (20) and picked up from the article alignment section (S1) is turned 90 degrees around the vertical axis and held by the first holder (12). A plurality of articles (10) are arranged so that the shorter sides of the articles (10) are positioned forward and backward in the conveying direction along the article alignment section side of the held articles (10). It is characterized in that the first holding means (18) and the second holding means (26) are configured to operate so as to be able to be transferred to the box (32) of the mounting portion (S2).
According to the first aspect of the invention, a plurality of articles lined up in a line in the article arranging section are picked up by the first holding means and the second holding means, respectively, and converted into a multi-row box body of the article transfer section. , or change the orientation of the article picked up by the second holding means and transfer it to the box body of the article placement section, so that various specifications with different arrangement and orientation of articles can be accommodated. can. In addition, since the articles picked up by the second holding means are arranged on the side of the article arranging section for the articles picked up by the first holding means and moved toward the upper part of the box body of the article transfer section, the second holding means is arranged. It is possible to cope with high-speed processing by reducing the operating range. In addition, the articles remaining on both sides of the plurality of articles held by the first holding means are held by the second holding means on the corresponding sides, respectively, and the orientation is changed to change the orientation of the articles held by the first holding means. Since the articles are positioned so as to follow each other, it is possible to convert the arrangement into a combination of the articles whose orientation is changed without disturbing the row of the plurality of articles to be transferred by the first holding means.

In the invention according to Claim 2 , the operation of the first holding means (18) is stopped, and the adjacent articles (10) are held by the second holders (20) of both the second holding means (26, 26). When holding and picking up, both the second holding means (26, 26) are configured to operate so as to change the direction around the vertical axis after the picked up articles (10) are separated from each other. Characterized by
According to the invention of claim 2 , when changing the orientation of two adjacent articles, it is possible to prevent the articles from coming into contact with each other, and it is possible to smoothly change the orientation.

In the invention according to Claim 3 , the first holding means (18) and the second holding means (26) hold the article (10) moved to just above the opening of the box (32). It is characterized in that the article (10) is lowered to a height corresponding to the number of tiers of the article (10) and stored in the box.
According to the third aspect of the present invention, articles arranged and oriented in various specifications can be accommodated in the box.

The invention according to claim 4 is characterized in that the second holding means (26) is a horizontal articulated robot.
According to the invention of claim 4 , it is possible to increase the degree of freedom in changing the arrangement of the articles held by the second holder and changing the orientation.

According to the present invention, it is possible to change the orientation of a plurality of articles lined up in a row while changing the orientation, or to easily deal with a specification in which only the orientation of the articles is changed.

It is a schematic front view showing an article transfer device. It is a schematic side view which shows a 1st holding means. It is a schematic side view which shows a 2nd holding means. FIG. 4 is a schematic plan view showing a state in which an article is transferred using first holding means and second holding means; FIG. 5 is a schematic plan view showing a state in which an article is transferred using the second holding means; It is explanatory drawing which shows the box which accommodated the goods.

Next, a preferred embodiment of an article transfer apparatus according to the present invention will be described below with reference to the accompanying drawings.

1 to 3 are schematic diagrams showing an article transfer device according to an embodiment. The article transfer device includes a first holder 12 capable of holding an article 10, and A first holding means 18 comprising an advance/retreat mechanism 14 that advances and retreats between above the article aligning section S1 and above the article transfer section S2, and an elevating mechanism 16 that vertically moves the first holder 12; A second holder 20 that can be held, and an orientation of the article 10 held by the second holder 20 while the second holder 20 is moved between the upper side of the article alignment section S1 and the upper side of the article transfer section S2. and a second holding means 26 having a lifting part 24 for moving up and down the second holder 20, and a part of the plurality of articles 10 arranged in a row in the article aligning section S1. The first holder 12 holds the remaining articles 10 while the second holder 20 holds the remaining articles 10 and picks them up from the article arranging section S1 to change the arrangement of the articles 10 and rotate some of the articles 10 vertically. , and can be transferred to the article placement section S2. In the embodiment, all (five) articles 10 arranged in a row in the article arranging section S1 are collectively picked up by the first holding means 18 and the second holding means 26 and transferred to the article transfer section S2. An example will be given.

The article 10 is, for example, a packaged article in which frozen food is packed, and as shown in FIG. The articles are transported toward the article arranging section S1 provided on the article conveying conveyor 28 in a posture in which the longitudinal direction thereof is oriented in the conveying direction. The article conveying conveyor 28 is composed of a belt conveyor in which a plurality of endless belts are arranged in parallel. By restricting the movement of each article 10 conveyed to the article aligning section S1 by a stopper (not shown), the articles 10 are moved to the article aligning section S1. It is configured to align five articles 10 in a row in S1. A box conveying conveyor 30 is arranged apart from the article conveying conveyor 28 in a direction intersecting the article conveying direction. It is configured to be positioned at the article transfer section S2 on the conveyor 30 . In this embodiment, five articles 10 lined up in a line at the article alignment section S1 on the article conveying conveyor 28 are picked up by the first holding means 18 and the second holding means 26, converted into two rows, and conveyed to the box conveying conveyor 30. It is configured to be transferred to the upper box 32 .

As shown in FIG. 4, the first holding member 12 of the first holding means 18 has a suction pad 12a capable of sucking the upward surface of the articles 10 arranged in the article arranging section S1, spaced apart in the article conveying direction. Of the five articles 10 arranged in the article arranging section S1, the suction pads 12a are configured to be capable of sucking three articles 10 excluding both ends. Further, as shown in FIG. 2, the advance/retreat mechanism 14 is arranged above the article alignment section S1 and the article transfer section S2. The advancing/retreating mechanism 14 includes a first slide guide 34 extending in a transfer direction intersecting (perpendicular to) the article conveying direction of the article conveying conveyor 28, and a first slide guide 34 movably supported by the first slide guide 34. It has a slider 36 and a first servomotor 38 as driving means for reciprocating the first slider 36 back and forth in the transfer direction along the first slide guide 34 . The first servomotor 38 is drive-controlled to move the first holder 12 between above the article alignment section S1 and above the article transfer section S2 (just above the opening of the box 32). Further, when the article transfer process is performed only by the second holding means 26, the advance/retreat mechanism 14 of the embodiment moves the first holder 12 from directly above the opening of the box 32 positioned in the article transfer section S2 to the article alignment section S1. Wait at the retracted position on the opposite side (see Fig. 5). In the embodiment, the advancing/retreating mechanism 14 is composed of a linear servo actuator that moves the first slider 36 by driving a ball screw disposed along the first slide guide 34 with a first servo motor 38 .

As shown in FIGS. 1 and 2, the elevating mechanism 16 is arranged on the first slider 36 . The elevating mechanism 16 is positioned above the article aligning section S1 in a first forward position N1 that does not interfere with the articles 10 conveyed by the article conveying conveyor 28, and faces above the articles 10 lined up in the article arranging section S1. The first holder 12 moves up and down between the first holding position N2 where the surface is sucked, and the first holder 12 above the article transfer section S2 does not interfere with the box 32 waiting in the article transfer section S2. The first holder 12 is moved up and down between the first retreat position N3 and the first release position N4 facing the inside of the box 32 . The lifting mechanism 16 moves between a support base 40 arranged on the first slider 36, a second slide guide 42 arranged on the support base 40 and extending in the vertical direction, and the second slide guide 42. A freely supported second slider 44 and a second servomotor 46 as a driving means for vertically moving the second slider 44 along the second slide guide 42 are provided. The first release position N4 has a height corresponding to the number of stages in which the articles 10 are packed into the box 32, and the height is changed each time the articles 10 are accommodated in the box 32. FIG. In the embodiment, the elevating mechanism 16 is composed of a linear servo actuator that moves the second slider 44 by driving a ball screw disposed along the second slide guide 42 with a second servo motor 46 .

The second holding means 26 are arranged on both left and right sides of the first holding means 18 in the article conveying direction. As shown in FIG. 4, the second holder 20 of the second holding means 26 has one suction pad 20a capable of sucking the upward surface of the articles 10 arranged in the article aligning section S1. The suction pad 20a is configured to be capable of sucking the corresponding article 10 at each end among the five articles 10 arranged side by side. Further, as shown in FIG. 3, a SCARA-type horizontal articulated robot is employed as the second holding means 26 in the embodiment, and the second holding means 26 is provided with the second holding tool 20 and the modified It has an arm unit 22 that functions as a unit. The arm unit 22 includes a first arm 50 supported rotatably about a first vertical axis with respect to the base shaft portion 48, and a second arm 50 with respect to the end portion of the first arm 50 about a second vertical axis. a second arm 52 rotatably supported; a robot hand 54 provided with the second holder 20 rotatably supported about a third vertical axis at the end of the second arm 52; A third servomotor 56 as driving means for rotating the first arm 50 around the first axis, a fourth servomotor 58 as driving means for rotating the second arm 52 around the second axis, and a robot hand 54 are provided. and a fifth servomotor 60 as a driving means that rotates about the third axis, and drives the third to fifth servomotors 56, 58, 60 to move the first arm 50, the second arm 52 and the robot hand 54. By rotating about the corresponding axis, the second holder 20 is moved between above the article aligning section S1 and above the article transfer section S2, and changes the orientation of the article 10 during the movement. configured as follows.

As shown in FIGS. 1 and 3, the elevating section 24 includes a third slide guide 62 extending in the vertical direction, a third slider 64 movably supported by the third slide guide 62, and the third slide guide 62. A sixth servomotor 66 is provided as driving means for vertically moving the slider 64 along the third slide guide 62 , and the base shaft portion 48 of the arm unit 22 is arranged on the third slider 64 . The sixth servomotor 66 moves to the second forward position M1 above the article aligning section S1 so as not to interfere with the articles 10 conveyed by the article conveying conveyor 28, and to the position above the articles 10 lined up in the article aligning section S1. The second holding fixture 20 moves up and down between the second holding position M2 that attracts the surface facing the direction, and does not interfere with the box 32 waiting in the article transfer section S2 above the article transfer section S2. Drive control is performed so that the second holder 20 moves up and down between the second retracted position M3 and the second released position M4 facing the inside of the box 32 . The second release position M4 has a height corresponding to the number of stages of the articles 10 packed into the box 32, and is changed each time the articles 10 are accommodated in the box 32. FIG. In the embodiment, the lifting section 24 is composed of a linear servo actuator that moves the third slider 64 by driving a ball screw disposed along the third slide guide 62 with a sixth servo motor 66 .

Next, with regard to the operation of the article transfer apparatus according to the embodiment, the first holding means 18 and the second holding means 26 are used to convert five articles 10 arranged in a row into two rows, A case of changing the orientation of the article 10 held by the holding means 26 will be described.

In the article transfer apparatus, as shown in FIG. They are respectively positioned at a first forward position N1 and a second forward position M1 above the article alignment section S1. Also, in the article transfer section S2 on the box transport conveyor 30, an empty box 32 stands by with its opening facing upward.

As shown in FIG. 4, the articles 10 conveyed by the article conveying conveyor 28 at predetermined intervals with their longitudinal sides oriented in the article conveying direction are restricted by stoppers in the article aligning section S1, so that five articles are arranged. The articles 10 are arranged in a row in the article conveying direction. The first holder 12 and the second holder 20 waiting at the first forward position N1 and the second forward position M1 above the article alignment section S1 are driven by the second servo motor 46 of the lifting mechanism 16 and the lifting section 24. By driving the sixth servomotor 66, the second slider 44 and the third slider 64 are lowered to reach the first holding position N2 and the second holding position M2. The articles 10 are sucked by the suction pads 12 a of the first holder 12 , and the respective articles 10 on the left and right ends are sucked by the corresponding suction pads 20 a of the second holder 20 . By driving the second servo motor 46 of the lifting mechanism 16 and the sixth servo motor 66 of the lifting section 24 to lift the second slider 44 and the third slider 64, five articles are lifted from the article alignment section S1. 10 are taken together.

When the first retainer 12 and the second retainer 20 reach the first forward position N1 and the second forward position M1, the first servo motor 38 of the advance/retreat mechanism 14 is first driven, and the first retainer 12 moves forward. The three held articles 10 are retracted to the first retraction position N3 above the article transfer section S2 without changing their orientation (solid line position in FIG. 4). Next, in each of the second holding means 26, the third to fifth servo motors 56, 58, 60 of the arm unit 22 are driven to vertically move the article 10 held by the second holder 20. The three articles 10 held by the first holder 12 are positioned along the side of the article arranging portion while turning around the axis to change the orientation by 90 degrees. As a result, as shown in FIG. 4, the five articles 10 aligned in the article conveying direction are replaced with the three articles 10 aligned in the article conveying direction with their longitudinal sides facing the article conveying direction. Secondly, the two articles 10 arranged in the article conveying direction are arranged in two rows with the short side facing the article conveying direction. That is, the articles 10 held by the first holder 12 and the articles 10 held by the second holders 20, 20 are arranged in different rows.

Next, the second slider 44 and the third slider 64 are lowered by driving the second servomotor 46 of the lifting mechanism 16 and the sixth servomotor 66 of the lifting section 24, respectively, and the first holder 12 and After the second holder 20 reaches the first release position N4 and the second release position M4 corresponding to the number of stages in which the articles 10 are packed in the box 32, the suction of the respective holders 12 and 20 is released. The individual articles 10 are accommodated in the box 32 (see FIG. 6). After the above-described transfer processing of the articles 10 is repeated by the number of stages of packing the articles 10 into the boxes 32, the boxes 32 packed with the articles 10 are carried out to the next process by driving the box transport conveyor 30. At the same time, the empty box 32 is positioned in the article transfer section S2.

Next, a description will be given of a case in which two articles 10 arranged in a line are transferred to the box 32 by changing the orientation thereof using only the second holding means 26 .

As shown in FIG. 5, the first holder 12 of the first holding means 18 waits at the retracted position away from the opening of the box 32 waiting in the article transfer section S2, The second holders 20 of the means 26 are positioned at the second forward positions M1 above the article alignment section S1 on the article transport conveyor 28, respectively.

As shown in FIG. 5, the articles 10 conveyed by the article conveying conveyor 28 with their longitudinal sides facing the article conveying direction at predetermined intervals are regulated by stoppers in the article aligning section S1, so that the articles 10 are separated into two pieces. The articles 10 are arranged in a row in the article conveying direction. Each of the second holders 20 waiting at the second forward position M1 above the article alignment section S1 is moved to the second holding position by lowering the third slider 64 by driving the sixth servomotor 66 of the lifting section 24 . At M2, each of the two articles 10 lined up in the article alignment section S1 is sucked by the corresponding suction pad 20a of the second holder 20. As shown in FIG. Then, by driving the sixth servo motors 66, 66 of both the elevating sections 24, 24 to raise the third sliders 64, 64, the two articles 10 are collectively picked up from the article alignment section S1.

When the second holders 20, 20 reach the second forward position M1, both the second holding means 26, 26 drive the third to fifth servo motors 56, 58, 60 of the respective arm units 22. , the articles 10 held by the second holder 20 are rotated about the vertical axis to change the orientation by 90 degrees, and the two articles 10, 10 are arranged so as to line up in the article conveying direction with the shorter side facing the article conveying direction. In addition, both the second holding means 26, 26 move the two articles 10, 10 picked up from the article alignment section S1 by the second holders 20, 20 from the second forward position M1 to the second retracted position M3. First, the third to fifth servo motors 56, 58, 60 are driven and controlled so as to change the orientation of the article 10 after both holders 20, 20 are moved away from each other. As a result, the direction of two adjacent articles 10, 10 in the article alignment section S1 can be changed smoothly without contact and interference. After that, the third sliders 64, 64 are lowered by driving the sixth servo motors 66, 66 of both the elevating parts 24, 24, and the second holders 20, 20 are released to the second release corresponding to the number of packing stages of the articles 10. After reaching the position M4, the suction of each of the second holders 20 is released, so that the two articles 10 arranged side by side in the article conveying direction are placed in the box body 32 with the short sides facing the article conveying direction. be accommodated.

In the article transfer apparatus of the embodiment, since the second holding means 26 is made operable so as to change the orientation of the articles 10 held by the second holder 20, the articles 10 are arranged in a line in the article aligning section S1. When a plurality of articles 10 are respectively picked up by the first holding means 18 and the second holding means 26 and transferred to the article transfer section S2, only some of the articles 10 are changed in orientation and converted into multiple rows. can be sorted by In addition, by performing the article transfer processing only with the second holding device 26 in a state where the operation of the first holding device 18 is stopped (the article transfer processing is suspended), only the articles 10 whose orientation is changed are arranged. can be accommodated in the box body 32 with . That is, the plurality of articles 10 arranged in a row in the article arranging section S1 are converted into an arrangement of various specifications different from the arrangement in the article arranging section S1 according to the shape of the box 32, or the orientation of the articles 10 is changed. can be changed and accommodated in the box 32 .

Among the five articles 10 arranged in a row in the article arranging section S1, three articles 10 excluding both ends are held by the first holders 12 of the first holding means 18, and the articles are transferred without changing their orientation. While moving toward the article transfer section S2, the articles 10 at both ends are held by the second holders 20 of the second holding means 26 to change the direction and move toward the article transfer section S2. , without disturbing the rows of the plurality of articles 10 transferred by the first holding means 18, the articles 10 can be converted into an arrangement in combination with the articles 10 whose orientation has been changed. Also, the first holding means 18 arranges the articles 10 picked up by the second holding means 26 on the side of the article arranging section of the articles 10 picked up by the first holding means 18 and moved toward the article transfer section S2. 18 and the second holding means 26 are operable, the operating range of the second holding means 26 can be reduced, and high-speed processing can be handled. In addition, by using a horizontal articulated robot as the second holding means 26, it is possible to increase the degree of freedom in changing the arrangement and orientation of the articles 10 held by the second holding member 20. FIG.

(Change example)
The present invention is not limited to the configuration of the embodiment, and can be modified, for example, as follows. In addition, without being limited to the following modified examples, various embodiments can be adopted for the configurations described in the examples within the scope of the present invention.
(1) The holding of the article by the holder is not limited to suction, but can be done by pinching or gripping.
(2) Various known moving mechanisms can be employed for the advance/retreat mechanism for moving the first holder back and forth, the lifting mechanism for lifting and lowering the first holder, and the lifting section for lifting and lowering the second holder.
(3) The changing part of the second holding means is configured by the arm unit of the robot. It is possible to employ a configuration in which the second holder is rotated around a vertical axis by a link mechanism or the like to change the orientation of the article.
(4) In the embodiment, of the plurality of articles lined up in the article arranging section, the articles excluding the articles at both ends are held by the first holders, and the two articles remaining at both ends are held by the second holders. However, it is also possible to employ a configuration in which a plurality of articles remaining on both end sides are held by the respective second holders. In addition, the number of articles held by each second holder is not limited to the same number and may be different.
(5) In the embodiment, two second holding means are provided, but the number of the second holding means may be one. For example, among three articles arranged in a row in the article arranging section, two adjacent articles are held by the first holding means and transferred, and the remaining end article is held by the second holding means. A transfer configuration can be adopted. Further, the number of articles held by the first holding means (first holder) and the second holding means (second holder) depends on the number of articles arranged in the article arranging section and the arrangement of articles in the article transfer section. It should be determined according to
(6) In the embodiment, the direction of the article is changed by 90 degrees by the second holding means, but it may be changed by 180 degrees or other angles according to the indication printed on the article. . Further, when the direction of the article is changed by 90 degrees by the two second holding means, one may be changed clockwise by 90 degrees and the other may be changed counterclockwise by 90 degrees.

Reference Signs List 10 article, 12 first holder, 14 forward/backward mechanism, 16 lifting mechanism 18 first holding means, 20 second holder, 22 arm unit (change section)
24 lifting section, 26 second holding means, 28 article conveying conveyor (conveying conveyor)
32 box body, S1 article arranging section, S2 article transfer section

Claims (4)

A plurality of articles lined up in a row in an article alignment section on a conveyor that conveys rectangular articles is picked up with the longer sides of the articles positioned forward and backward in the conveying direction , and the articles are placed in boxes of the article transfer section. An article transfer device to be transferred,
a first holder capable of holding a portion of the plurality of articles; an advance/retreat mechanism for moving the first holder back and forth between above the article arranging section and above the box body of the article transfer section; a first holding means including an elevating mechanism that moves the holder up and down;
second holders provided on both sides in the direction in which the articles sandwiching the first holding means are arranged and capable of holding the remaining articles not held by the first holders; and above the box body of the article transfer section and change the orientation of the article held by the second holder by at least 90 degrees around the vertical axis; a second holding means including a lifting part that moves up and down,
The changing portion includes a first arm supported rotatably about a vertical axis by a base shaft portion, a second arm supported rotatably about a vertical axis by the first arm, and a second arm rotatably supported by the first arm about a vertical axis. a robot hand provided with the second holder supported by an arm so as to be rotatable around a vertical axis;
Among the plurality of articles lined up in the article arranging section, a plurality of articles excluding at least both ends are collectively held by the first holders of the first holding means, and the plurality of articles held by the first holders The articles remaining on both sides of the article are held by the second holders of the second holding means on the corresponding side, and the plurality of articles held by the first holders are picked up from the article arranging section and transferred to the article transfer section. An article that is moved upward from the box body, then held by the second holder and picked up from the article arranging section, is held by the first holder after changing its orientation by 90 degrees around the vertical axis. The first holding means and the first holding means and the first holding means and An article transfer apparatus characterized in that it is configured to operate the second holding means. When the operation of the first holding means is stopped and adjacent articles are held and picked up by the second holders of both second holding means, the picked up articles are separated from each other and then turned around the vertical axis. 2. The article transfer apparatus according to claim 1, wherein both the second holding means are operated so as to change by . The first holding means and the second holding means are operated so that the articles that have moved to just above the opening of the box are lowered to a height corresponding to the number of stages in which the articles are packed into the box and accommodated in the box. 3. The article transfer device according to claim 1 or 2, characterized in that: The article transfer apparatus according to any one of claims 1 to 3, wherein the second holding means is a horizontal articulated robot.

Images