JP6283566B2 - Article transfer device - Google Patents

Description

  The present invention relates to an article transfer apparatus that takes out articles conveyed by an upstream conveying means and transfers them to a downstream conveying means, and more particularly, a plurality of types of articles arranged in a matrix. The present invention relates to an article transfer apparatus that takes out and forms a small group of articles (hereinafter referred to as an assorted article group) composed of a plurality of types of articles.

  In Patent Document 1, a plurality of types of articles that have been transported in a plurality of rows and a plurality of columns by a tray supply conveyor are selected and taken out by a transfer means having a plurality of holding members. Aligned with the pattern of articles when packing, and placed on the stacking stage, and then moved the suction pads of the packing device in the X and Y directions to match the spacing of the articles on the stacking stage An article transfer device is described in which these articles are lifted after being sucked and held, and thereafter, the spacing between the suction pads is adjusted to the spacing at the time of packing the goods to perform boxing.

JP 2013-163561 A

  In the configuration of the article transfer device described in Patent Document 1, the article is taken out from the tray by the transfer means and placed on the placement stage, and then the article on the placement stage is picked up by the boxing device into the case. There is a problem in that there is a limit to the processing capacity because the articles are delivered by a plurality of devices. Further, since the processing capacity is not sufficient, it is difficult to pack the boxes while continuously conveying the supply conveyor on the upstream side and the carry-out conveyor on the downstream side. Furthermore, this apparatus is limited to the case where the number of rows of the article group on the tray and the number of rows of the article group inserted into the case match, and is applicable to the article group having a different number of rows. There is a problem that you can not. In addition, if the number of rows of articles on the tray is twice the number of rows of articles in the case, it can be applied, but the transfer operation is required twice in the boxing device. There is a problem that capacity is limited.

  The first invention has been made to solve the above-mentioned problems, and is a first region composed of articles of the first type arranged in a matrix of m rows and n columns and a first region arranged in a matrix of m rows and n columns. An upstream conveying means that conveys a group of articles formed adjacent to each other in the row direction in a second area composed of two types of articles, and a first area and a first area of the upstream conveying means by a holding member arranged in a matrix A first transfer means for collectively taking out a predetermined number of articles from each of the two areas; and a holding member arranged in a matrix form on the downstream side of the first transfer means along the upstream transport means. A second transfer means for collectively collecting a predetermined number of articles from the first area and the second area of the upstream transfer means; and a downstream transfer means in which a plurality of transfer sections are set. The upstream transport by the loading means and the second transfer means In the article transfer apparatus for picking up articles from the stage and transferring them to the downstream conveying means, and forming an article group in which the articles of the first and second varieties are arranged in a predetermined arrangement in each of the conveying sections, The first transfer means picks up the article from the pickup area on the first area and the pickup area on the second area by using a plurality of holding members arranged in a matrix. A second transfer unit, wherein the second transfer means includes a third transfer unit that picks up an article from a pick-up area on the first area by a plurality of holding members arranged in a matrix; A fourth transfer unit that picks up an article from a pick-up area on two areas, and the pick-up area of the second transfer unit is transported upstream of the pick-up area of the first transfer unit. The pick-up area of the third transfer unit is set in a row direction in the article group on the upstream conveying means with respect to the pick-up area of the first transfer unit. Match, set shifted in the row direction, match the picking area of the fourth transfer unit with the picking area of the first transfer unit in the row direction in the article group on the upstream conveying means, It is characterized by being set to be shifted in the column direction.

  According to a second aspect of the present invention, in the first aspect of the present invention, each of the first to fourth transfer units is provided with an interval between the holding members, and a first interval for picking up an article from the upstream conveying means. The apparatus further comprises an interval changing means for changing to a second interval for transferring the article to the downstream conveying means.

  Further, according to a third aspect of the present invention, in the first or second aspect of the invention, each of the transfer means picks up an article from the upstream transport means at one time by one and the other transfer unit, and transfers one of the transfer means. After placing an article of one product type on a predetermined number of conveyance sections of the downstream conveying means by the unit, the other product type is transferred to the conveyance section where the one transfer unit has transferred the article by the other transfer unit. The article is transferred.

  According to a fourth aspect of the present invention, in the second aspect of the present invention, each of the transfer means moves the holding member "at least one" of the one and the other transfer units having the second interval in the row direction. It has a transfer unit moving means to arrange so that the holding members of the transfer unit are alternately adjacent to each other.

  The two transfer units of the first transfer means pick up articles from the pick-up areas of different articles on the upstream conveying means, respectively, and then change the arrangement of the articles in the pick-up area to the placement pitch, Since it is placed on the placement area of the downstream transport means, it is possible to deliver articles even when the number of rows of articles on the upstream transport means and the number of rows of articles on the downstream transport means do not match. In addition, the processing capacity can be improved, and the article can be transferred while continuously conveying the upstream side conveying unit and the downstream side conveying unit.

FIG. 1 is a plan view showing the overall configuration of the article transfer device. Example 1 FIG. 2 is an explanatory diagram for explaining the operation of the article transfer device. FIG. 3A is a diagram illustrating the configuration and operation of the transfer head, and FIG. 3B is a diagram illustrating a mechanism for interlocking each suction pad of the transfer head. FIG. 4 is a diagram for sequentially explaining the transfer operation by the article transfer device according to the second embodiment. (Example 2) FIGS. 5A and 5B are views corresponding to FIG. 3 of the second embodiment. FIG. 6 is a diagram illustrating a process of expanding the arrangement of articles taken out by the transfer unit. FIG. 7 is a diagram illustrating a process of shifting the position in the row direction after expanding the arrangement of the first and second types of articles. FIG. 8 is a diagram for explaining a process of juxtaposing two kinds of articles whose positions are shifted. FIG. 9 is a diagram for explaining the difference between the suction pad of the first transfer unit and the suction pad of the second transfer unit.

  A tray for accommodating a group of articles in which a first type of articles arranged in a matrix of m rows and n columns and a second type of articles arranged in a matrix of m rows and n columns are arranged adjacent to each other in the column direction. A tray supply conveyor that continuously conveys, a bucket conveyor that is continuously provided with a plurality of buckets and discharges the accommodated articles, and an article is taken out from the pick-up area of the first area where the first-type articles are arranged. A transfer unit and a first robot and a second robot having two transfer units of a transfer unit for taking out an article from a pick-up area of a second area where articles of the second kind are arranged are provided.

  The first transfer unit and the second transfer unit of the first robot take out a predetermined number of first-type goods and second-type goods, respectively, and the arrangement of the goods at the time of the removal is inserted into the bucket. After changing to the arrangement, it is inserted in a state where two kinds of articles are mixed in the bucket, and a subdivided matrix-like article group (assorted article group) composed of plural kinds of articles is formed. The third transfer unit and the fourth transfer unit of the second robot take out the first-type article and the second-type article that were not taken out by the first and second transfer units of the first robot. Similarly, after changing the arrangement of the articles, they are inserted into buckets of a bucket conveyor to form an assorted article group.

  Hereinafter, the present invention will be described with reference to embodiments shown in the drawings. This article transfer apparatus (indicated by reference numeral 1 as a whole) includes upstream conveying means (tray supply conveyor 4) for conveying a tray 2 on which a plurality of types of articles A and B are arranged in a plurality of rows and a plurality of columns. And the downstream conveyance means (discharge conveyor 8) in which the several conveyance division (bucket 6) was set is arrange | positioned in parallel. Two transfer means (the first robot 10 as the first transfer means and the second robot 12 as the second transfer means) are installed at a certain interval on the side of the tray supply conveyor 4, The articles A and B on the tray 2 are taken out by these robots 10 and 12 and inserted into the bucket 6 to transfer the articles A and B.

  The tray supply conveyor 4 is provided with a pair of endless belts 14A and 14B arranged in parallel, and the tray 2 is formed by bars 16A and 16B attached to the endless belts 14A and 14B on both sides at a predetermined interval. Is continuously conveyed in the direction of arrow C. Articles manufactured by a manufacturing apparatus (not shown) connected to the upstream side are placed and conveyed on the tray 2 conveyed by the tray supply conveyor 4. Each tray 2 is loaded with a first type of articles A arranged in a matrix of m rows and n columns, and a second type of articles B arranged in a matrix of m rows and n columns. . In this embodiment, the tray 2 has a first product article A (shown in white in FIG. 1) in 6 rows and 5 columns and a second product article B in 6 rows and 5 columns (black in FIG. 1). Are placed side by side in the column direction. The articles A and B in the tray 2 are arranged at regular intervals in the row direction (the intervals in the row direction of these articles A and B are indicated by P1), and are also arranged at regular intervals in the column direction. (The interval in the row direction of these articles A and B is indicated by P2.) In this embodiment, the pitch P1 in the row direction and the pitch P2 in the column direction are substantially the same.

  The discharge conveyor 8 which is a downstream conveying means is a bucket conveyor in which a large number of buckets 6 are continuously arranged, and continuously conveys in the same direction as the tray supply conveyor 4 (see arrow C). Each bucket 6 has an article placement portion 6c formed between a front wall surface 6a and a rear wall surface 6b in the conveyance direction, and has a shape in which both ends (both sides in the conveyance direction) of each placement portion 6c are open. doing. In this embodiment, six articles A and B are placed in each bucket 6 in three rows and two columns (the first kind of articles A and the second kind of articles B are three in one column). It has become. Articles A and B which are accommodated and conveyed in each bucket 6 of this bucket conveyor 8 are sent to a downstream carting machine (not shown) and inserted into a carton.

  The robots (the first robot 10 and the second robot 12) as the first transfer means and the second transfer means are three-dimensional industrial robots, and the end effector is shown in FIGS. 3 (a) and 3 (b). A transfer head 18 is attached. Since the first robot 10 and the second robot 12 have a line-symmetric configuration with respect to a virtual line orthogonal to the tray supply conveyor 4, the first robot 10 and the second robot 12 are configured according to FIGS. Only the configuration of the transfer head 18 will be described, and the description of the transfer head of the second robot 12 will be omitted.

  The transfer head 18 of the first robot 10 is provided with two sets of transfer units 22 and 24 each having 3 rows and 5 columns of suction pads 20 as shown on the upper side and the lower side in FIG. . The first transfer unit 22 shown in the upper part of the drawing and the second transfer unit 24 shown in the lower part have a point-symmetric configuration, and are attached to two integrated frames 26 and 28, respectively. . The first transfer unit 22 shown in the upper part is attached to a Y rail 32 via a Y slider 30 as a set of three suction pads 20. The Y rail 32 (32A) to which the three suction pads 20 in the first row (the leftmost row in FIG. 3A) are attached is fixed between the wall surfaces 26a and 26b in the longitudinal direction of the frame 26. The Y rails 32 (32B, 32C, 32D, 32E) to which the three suction pads 20 in the second to fifth rows are attached are located on the inner sides of both wall surfaces 26a, 26b in the longitudinal direction of the frame 26. The attached X rail 34 (34A, 34B) is supported via an X slider 36.

  The axis 40 (the suction pad axis indicated by reference numeral 40A in FIG. 3B) of the suction pad 20 (the suction pad indicated by reference numeral 20A in FIG. 3A) in the third row and first column of the first transfer unit 22 is provided. Further, it is attached to a piston rod 44a of a Y cylinder 44 fixed to one side wall 26c of the frame 26 (the left side wall in FIG. 3A) via a connecting arm 42. Further, the suction pad axis 20 (suction pad axis indicated by reference numeral 40B in FIG. 3B) of the suction pad 20 (suction pad indicated by reference numeral 20B in FIG. 3A) in the first row and fifth column of the first transfer unit 22 is shown. ) Is connected to a piston rod 48 a of an X cylinder 48 fixed to one wall surface 26 a in the longitudinal direction of the frame 26 via a connecting arm 46.

  The shafts 40 of the three suction pads 20 in the first row of the first transfer unit 22 are connected as shown in FIG. That is, the suction pad shaft 40 (40A) in the third row connected to the piston rod 44a of the Y cylinder 44 is connected to one end of the first Y-direction (row direction) transmission plate 50, and this first The suction pad shaft 40 in the second row is inserted in a slot 50a formed near the other end of the Y-direction transmission plate 50 so as to be relatively movable. Furthermore, the suction pad shaft 40 in the first row is relatively positioned in the elongated hole 52a formed near the other end of the second Y-direction transmission plate 52 to which the suction pad shaft 40 in the second row is connected to one end. It is movably inserted.

  Moreover, the axis | shaft 40 of the suction pad 20 of each row | line | column is connected as follows. The axis 40 of the suction pad 20 in the first row and first column (the axis fitted in the elongated hole 52a of the second Y-direction transmission plate 52) is connected to the first X-direction (column direction) transmission plate 54. The shaft 40 of the suction pad 20 in the first row and the second column is fitted in an elongated hole 54a that is connected to one end and is formed near the other end of the first X-direction transmission plate 54 so as to be relatively movable. Yes. Further, the shaft 40 of the suction pad 20 in the second row and second column is connected to one end of the second X-direction transmission plate 56 and is formed near the other end of the second X-direction transmission plate 56. The shaft 40 of the suction pad 20 in the second row and third column is fitted in the hole 56a so as to be relatively movable. Further, the shaft 40 of the suction pad 20 in the third row and third column is connected to one end of the third X-direction transmission plate 58 and is formed near the other end of the third X-direction transmission plate 58. The shaft 40 of the suction pad 20 in the third row and fourth column is fitted in the hole 58a so as to be relatively movable. The shaft 40 of the suction pad 20 in the first row and the fourth column is connected to one end of the fourth X-direction transmission plate 60 and is formed near the other end of the fourth X-direction transmission plate 60. The shaft 40 (40B) of the suction pad 20 (20B) in the first row and fifth column is fitted in the hole 60a so as to be relatively movable.

  As described above, the shaft 40 of each suction pad 20 of the first transfer unit 22 is sequentially connected by the Y-direction transmission plates 50 and 52 and the X-direction transmission plates 54, 56, 58 and 60. Is extended (the Y cylinder 44 shown on the left side of FIG. 3 (a) is extended), the three suction pads 20 in the first row approach each other and 3 in the second to fifth rows. The individual suction pads 20 also approach each other. When the Y cylinder 44 is contracted (showing a state where the Y cylinder 74 of the second transfer unit 24 on the right side in FIG. 3A is contracted), the three suction pads 20 in the first row are separated from each other. The three suction pads 20 in the second to fifth rows are also separated from each other.

  Further, when the piston rod 48a of the X cylinder 48 is extended (showing a state in which the upper X cylinder 48 in FIG. 3A is extended), the Y rails 32 (32A) to which the three suction pads 20 are attached respectively. , 32B, 32C, 32D, 32E) expands on the basis of the Y rail 32A in the first row and contracts the piston rod 48a of the X cylinder 48 (the second transfer unit below in FIG. 3A). Y rails 32 (32A, 32B, 32C, 32D, 32E) each having three suction pads 20 attached to each other approach each other. In this 1st transfer unit 22, it approaches on the basis of Y rail 32A of the 1st row.

  The second transfer unit 24 shown on the lower side of FIGS. 3A and 3B has a point-symmetric configuration with the first transfer unit 22, and the suction pads 62 in 3 rows and 5 columns are each Y. A fifth rail YE 66E opposite to the first transfer unit 22 is fixed to the frame 28 by being attached to a Y rail 66 (66A, 66B, 66C, 66D, 66E) via a slider 64. The first to fourth rows of Y rails 66A, 66B, 66C, 66D are attached to the X rail 70 (70A, 70B) via the X slider 68, respectively.

  The shaft 72 (the shaft indicated by reference numeral 72A in FIG. 3B) of the suction pad 62 in the first row and fifth column (the suction pad indicated by reference numeral 62A in FIG. 3A) is connected to the Y cylinder via the connecting arm 73. A shaft 72 (an axis denoted by reference numeral 72B in FIG. 3 (b)) of the suction pad 62 (the suction pad indicated by reference numeral 62B in FIG. 3 (a)) in the third row and first column is connected to the 74 piston rod 74a. The piston rod 69 a of the X cylinder 69 is connected via a connecting arm 75. Further, the three suction pads 62 in the fifth row are sequentially connected by the Y-direction transmission plates 79 and 76 in the same manner as the shaft 40 of the suction pad 20 in the first row of the first transfer unit 22. The shaft 72 of the suction pad 62 is also connected by X direction transmission plates 78, 80, 82, 84. Accordingly, the operation of the Y cylinder 74 and the X cylinder 69 causes the suction pads 62 to approach and separate from each other as in the first transfer unit 22.

  As described above, since the first transfer unit 22 and the second transfer unit 24 have a point-symmetric structure, when the X cylinder 48 of the first transfer unit 22 contracts, the five rows of Y rails 32A and 32B. , 32C, 32D, and 32E approach the left side of FIG. 3A, and the X cylinder 69 of the second transfer unit 24 contracts, the five rows of Y rails 66A, 66B, 66C, 66D, and 66E become as shown in FIG. Approach the right side of a). When the X cylinder 48 of the first transfer unit 22 extends, the fifth row of Y rails 32E moves to the right from the substantially central portion of FIG. 3A, and the fourth row of Y rails 32D The fourth row of transmission plates 60 moves to the right, and the third and second rows of Y rails 66C and 66B move in the same manner to the right, so that the five rows of suction pads 20 are substantially equally spaced. To expand. When the X cylinder 69 of the second transfer unit 24 extends, the first row of Y rails 66A moves to the left from the substantially central portion of FIG. 3A, and the second row of Y rails 66B moves to the X direction. The fourth row of transmission plates 84 follow and move leftward, and the third and fourth rows of Y rails 66C and 66D move similarly to the left, and the five rows of suction pads 62 are substantially equally spaced. To expand.

  The suction pads 20 and 62 of the first transfer unit 22 and the second transfer unit 24 approach and separate in the X direction for each row, and the three suction pads 20 and 62 in each row approach and separate in the Y direction. However, there is no mechanism for moving the suction pads 20 and 62 in the vertical direction (Z direction), and the transfer head 18 moves in the X direction, Y direction, and Z direction integrally.

  The transfer head (not shown) of the second robot 12 has the same configuration as the transfer head 18 of the first robot 10 (strictly, the transfer head 18 of the first robot 10 and the transfer of the second robot 12). The head has a configuration symmetrical with respect to a virtual line orthogonal to the tray supply conveyor 4), and includes two transfer units (a third transfer unit and a fourth transfer unit). ing. The configuration of each transfer unit is the same as that of the first transfer unit and the second transfer unit, but the first area (area in which the first-type article A is accommodated) and the second area ( The pick-up areas from which the articles are taken out from the areas in which the second-type articles B are housed are different. In other words, the first transfer unit 22 of the first robot 10 is an area where the articles A corresponding to the upper 3 rows and 5 columns in FIG. 1 of the first area are picked up, and the second transfer unit 24 is the second area. The article B corresponding to the lower 3 rows and 5 columns in FIG. On the other hand, in the third transfer unit of the second robot 12, the article A corresponding to the lower 3 rows and 5 columns in FIG. 1 of the first area is a picking area, and in the fourth transfer unit, the diagram of the second area. Article B for the upper 3 rows and 5 columns in 1 is the picking area.

  A tray 2 on which articles A and B arranged in a predetermined number of rows and columns are placed is continuously conveyed by a tray supply conveyor 4. In this embodiment, on each tray 2, six rows and five columns of the first type of articles A (articles shown in white in FIGS. 1 and 2) are arranged on the upstream side in the transport direction, and the same number of 6 rows Five rows of second-type articles B (articles shown in black in FIGS. 1 and 2) are arranged on the downstream side in the transport direction. In the figure, the area where the article A shown in white is arranged is the first area, and the area where the article B shown in black is arranged is the second area.

  The first robot 10 and the second robot 12 arranged on the side of the tray supply conveyor 4 have two transfer units 22 and 24 (the third transfer unit and the fourth transfer unit of the second robot 12 are respectively shown in the figure). The first robot 10 picks up the first type of article A that is half of the first area (the upper half of FIG. 1) by the first transfer unit 22, and the second transfer unit 24 The second type of article B, which is half of the second region (lower half of FIG. 1), is picked up. A region where the articles A and B are picked up by the transfer units 22 and 24 is a picking region. A state in which there are no articles A and B after picking up the articles A and B in the pick-up area by the first and second transfer units 22 and 24 is shown by broken lines in FIGS.

  When the articles A and B are picked up from the pick-up areas in the first area and the second area by the first transfer unit 22 and the second transfer unit 24 of the first robot 10, The suction pads 20, 62 contract the X cylinders 48, 69 to bring each row closer, and contract the Y cylinders 44, 74 to slightly widen the interval between the three suction pads 20 in each row. deep. That is, the second transfer unit 24 brings each row closer to the right side as shown in the lower side of FIG. 3A, and the first transfer unit 22 is not shown in FIG. ) With each row close to the left side. Further, the three suction pads 20 and 62 in each row of the first transfer unit 22 and the second transfer unit 24 are slightly spaced from each other as in the second transfer unit 24 shown in the lower side of FIG. Keep it open.

  With the first transfer unit 22 and the second transfer unit 24 in the above-described state, the entire transfer head 18 is transported on the tray 2 being transported (the left side being transported by the tray supply conveyor 4 shown at the top in FIG. 2). And then lowered at that position to suck and hold the articles A and B in the pick-up area by the suction pads 20 and 62 of the transfer units 22 and 24, respectively. The articles A and B are picked up from each pick-up area. The articles A and B picked up by the transfer head 18 of the first robot 10 are the first kind of articles A in 3 rows and 5 columns and the second kind of articles B in 3 rows and 5 columns are the second in FIG. It is in the state shown on the left side of the stage, and the interval (P1) in the Y direction (row direction) and the interval (P2) in the X direction (column direction) of the articles A and B are accommodated in the tray 2. The interval is the same as the current state.

  From this state, the X cylinders 48 and 69 of the transfer units 22 and 24 are extended, and the Y cylinders 44 and 74 are also extended. In each of the first transfer unit 22 and the second transfer unit 24, the suction pads 20 and 62 expand in the column direction and approach each other in the row direction (in the state shown on the left side of the third stage in FIG. 2). Become). At this time, the interval (P3) in the row direction between the articles A and B coincides with the interval between the buckets 6 provided on the bucket conveyor 8. Further, the three articles A and B in the row direction are in contact with each other.

  Next, the transfer head 18 is moved onto the bucket conveyor 8 by the operation of the first robot 10, and first, the second type of article B held by the suction pad 62 of the second transfer unit 24 is continuously added. The five buckets 6 to be inserted are inserted close to the wall surface 6a on the front side in the conveying direction. Since the suction pads 62 in each row of the transfer unit 24 are expanded in the row direction so as to match the interval between the buckets 6, they are inserted downstream in the transport direction of the buckets 6 that can accommodate two rows of articles B. can do. Subsequently, the first-type article A held by the suction pad 20 of the first transfer unit 22 is brought close to the wall surface 6b on the rear side of each bucket 6 in which the second-type article B is already inserted. insert. As described above, a single robot 10 can insert two types of articles A and B into the same bucket 6 to form an assorted article group.

  The tray 2 from which a predetermined number of two kinds of articles A and B are taken out from the picking area of the first area and the second area by the first transfer means (first robot 10) is placed on the tray supply conveyor 4 in FIG. Are conveyed to the position of the second transfer means (second robot 12). On the tray 2, the first type of article A in the pickup area taken out by the third transfer unit provided in the second robot 12 and the second type of article in the pickup area taken out by the fourth transfer unit. The article B remains, and these articles A and B are taken out by the third transfer unit and the fourth transfer unit. The pick-up area of the third transfer unit coincides with the pick-up area of the first transfer unit 22 in the column direction in the article group on the tray supply conveyor 4 and is set to be shifted in the row direction. . Further, the pickup area of the fourth transfer unit is set so as to coincide with the pickup area of the first transfer unit 22 in the row direction in the article group on the tray supply conveyor 4 and is shifted in the column direction. ing.

  The third transfer unit and the fourth transfer unit hold different types of articles A and B, respectively, and then widen the column-direction interval and bring the row-direction interval closer to the third level in FIG. Set to the state shown on the right side of. Thereafter, two types of articles A and B are inserted into each bucket 6 of the bucket conveyor 8 by the second operation by the second robot 12. The five buckets 6 (the bucket group indicated by symbol D in FIG. 2) on the leftmost side of the bucket conveyor 8 shown in the lowermost stage of FIG. The buckets 6 into which the articles A and B are inserted are inserted, and the five buckets 6 on the right side thereof (the bucket group indicated by E in FIG. 2) are inserted by the second transfer means 12 from now on. Bucket 6 to be used. Further, the five buckets 6 (the bucket group indicated by the symbol F in FIG. 2) on the downstream side of the empty bucket E are buckets into which the articles A and B have been inserted by the first robot 10 last time. Five buckets 6 on the downstream side (bucket group indicated by symbol G in FIG. 2) are buckets into which articles A and B have been inserted by the second robot 12 last time. In FIG. 2, the two trays 2 are shown close to each other so that the articles A and B to be taken out can be easily understood. However, actually, as shown in FIG. Is processed at a position separated by a necessary distance so as not to interfere.

  FIG. 4 is a diagram sequentially showing the transfer process by the article transfer device according to the second embodiment. In this embodiment, as in the first embodiment, the tray supply conveyor 104 has 6 rows and 5 columns. The tray 102 in which the first-type article A and the second-type article B of 6 rows and 5 columns are arranged in the column direction is continuously conveyed (conveyed by the tray supply conveyor 104 shown in the first stage of FIG. 4). (See the left tray 102). In this embodiment, the transfer head 118 (see FIG. 5A) of the first robot (not shown) includes a first transfer unit 122 (the transfer unit on the upper side of FIG. 5A). The second transfer unit 124 (the lower transfer unit in FIG. 5A) has the same number and arrangement of suction pads 120 and 162 as in the first embodiment, and the first transfer unit 122 suction pads 120 pick up articles A in 3 rows and 5 columns from a pick up area (area of 3 rows and 5 columns in the upper half of the article A) in the first area (area where the articles A in the tray 102 are arranged), The suction pads 162 of the second suction unit 124 are articles in 3 rows and 5 columns from the picking area (the area in the lower half of the article B in the 3 rows and 5 columns) of the second area (the area in which the articles B are disposed in the tray 102). Take B (see the diagram on the left side of the second row in FIG. 4).

  The article transfer apparatus according to this embodiment also includes the first robot as the first transfer means and the second robot as the second transfer means, and the transfer head 118 (second second) provided in each robot. Two transfer units 122 and 124 are respectively provided on the transfer head of the robot (not shown). Since the transfer head of the second robot has a symmetrical structure with respect to the transfer head 118 of the first robot and a virtual line orthogonal to the tray supply conveyor 104, the transfer head shown in FIGS. The transfer head 118 of the first robot shown is described, and the description of the second robot is omitted.

  The transfer head 118 of the first robot includes two sets of transfer units 122 and 124 each having three rows and five columns of suction pads 120 and 162, as shown in the upper side and the lower side of FIG. Yes. The first transfer unit 122 shown in the upper part of the figure and the second transfer unit 124 shown in the lower part have a substantially point-symmetric configuration, and are attached to two integrated frames 126 and 128, respectively. Yes. In the first transfer unit 122 shown in the upper part, three suction pads 120 in each row are attached to one connection plate 123 at equal intervals. Therefore, the interval (the pitch P1 in the X direction) between the three suction pads 120 in each row is always constant. These connecting plates 123 are slidably supported on the Y rail 132 via Y sliders 130, respectively.

  The Y rails 132 on which the connection plates 123 to which the three suction pads 20 in the first row (the leftmost row in FIG. 5A) are attached are supported on both wall surfaces 126a in the longitudinal direction of the frame 126. 126b, and the Y rail 132 on which the connection plate 123 to which the second to fifth suction pads 120 are attached is supported on both the wall surfaces 126a and 126b in the longitudinal direction of the frame 126. The X rails 134 (134 </ b> A and 134 </ b> B) attached to the inside are respectively supported via X sliders 136.

  The first row of connecting plates 123 of the first transfer unit 122 is connected to the piston rod 144 a of the Y cylinder 144 fixed to one side wall 126 c of the frame 126 via the connecting arm 142. In addition, the X slider 136 attached to the Y rail 132 in the fifth row (the rightmost row in FIG. 5A) of the first transfer unit 122 is connected to the longitudinal direction of the frame 126 via the connecting arm 146. It is connected to the piston rod 148a of the X cylinder 148 fixed to one wall surface 126a in the direction.

  A pin 149 fixed to the connecting plate 123 to which the first row of suction pads 120 is attached is connected to one end of the first X direction (row direction) transmission plate 154 (see FIG. 5B). A pin 149 fixed to the connecting plate 123 in the second row is inserted into an elongated hole 154a formed near the other end of the first X-direction transmission plate 154 so as to be relatively movable. Further, one end of the second X-direction transmission plate 156 is connected to the pin 149 attached to the second row of connection plates 123, and an elongated hole is formed near the other end of the second X-direction transmission plate 156. A pin 149 attached to the connection plate 123 in the third row is inserted through the pin 156a so as to be relatively movable. Further, one end of the third X-direction transmission plate 158 is connected to the pin 149 attached to the third row of connection plates 123, and an elongated hole is formed near the other end of the third X-direction transmission plate 158. A pin 149 attached to the connection plate 123 in the fourth row is inserted into 158a so as to be relatively movable. In addition, a pin 149 fixed to the fourth row of connection plates 123 is connected to one end of the fourth X-direction transmission plate 160, and an elongated hole is formed near the other end of the fourth X-direction transmission plate 160. A pin 149 fixed to the connection plate 123 in the fifth row is inserted into the 160a so as to be relatively movable.

  As described above, the five connection plates 123 to which the suction pads 120 of each row are attached are sequentially connected by the X-direction transmission plates 154, 156, 158, 160, so that the piston rod 148a of the first X cylinder 148 is When extended, the Y rails 132 on which the connection plates 123 to which the three suction pads 120 are attached are supported are expanded with reference to the first row of Y rails 132 fixed to the frame 126, When the piston rod 148a of the 1X cylinder 148 is contracted, the Y rails 132 on which the connection plates 123 to which the three suction pads 120 are attached are supported approach each other (the state shown in FIG. 5A). The first transfer unit 122 approaches the first row of Y rails 132 fixed to the frame 126 as a reference. In addition, when the Y cylinder 144 is operated, the five connection plates 123 to which the three suction pads 120 are attached move as a unit along the Y rail 132 in the Y direction.

  The second transfer unit 124 shown on the lower side of FIGS. 5A and 5B is basically point-symmetric with the first transfer unit 122, and each of three adsorptions in five rows. Pads 162 are attached to the connecting plate 163 at equal intervals, and each connecting plate 163 is supported via a Y slider 164 so as to be slidable on the Y rail 166. Further, in the second transfer unit 124, the Y rails 166 on which the first to fifth rows of connection plates 163 are supported so as to be slidable in the Y direction are respectively connected to the X rails 170 (170A) via the X sliders 168. 170B). The X slider 168 to which the first row Y rail 166 is connected is connected to the piston rod 169a of the first X cylinder 169 via a connecting arm 175. Further, an X slider 168 to which the fifth row Y rail 166 is connected is connected to the piston rod 177 a of the second X cylinder 177 via a connecting arm 179.

  One end of the first X-direction (column direction) transmission plate 178 is fixed to the pin 165 fixed to the fifth-row connection plate 163, and is formed near the other end of the first X-direction transmission plate 178. The pin 165 fixed to the connection plate 163 in the fourth row is fitted in the elongated hole 178a so as to be relatively movable. Further, one end of the second X-direction transmission plate 180 is fixed to the pin 165 fixed to the connection plate 163 in the fourth row, and an elongated hole is formed near the other end of the second X-direction transmission plate 180. The pin 165 fixed to the connection plate 163 in the third row is fitted to the 180a so as to be relatively movable. Further, a pin 165 fixed to the third row connection plate 163 is fixed to one end of the third X-direction transmission plate 182 and is formed near the other end of the third X-direction transmission plate 182. Pins 165 fixed to the second row of connecting plates 163 are fitted in the holes 182a so as to be relatively movable. In addition, a pin 165 fixed to the connection plate 163 in the second row is fixed to one end of the fourth X-direction transmission plate 184, and is a long hole formed near the other end of the fourth X-direction transmission plate 184. A pin 165 fixed to the connecting plate 163 in the first row is fitted to the 184a so as to be relatively movable. Accordingly, when the first X cylinder 169 contracts, as shown in FIG. 5A, the connection plates 163 in each row approach, and when the first X cylinders 169 are extended, the connection plates 163 in the fifth row are used as a reference. The connection plates 163 in the first to fourth rows are expanded. Further, when the second X cylinder 177 is extended in a state where each connection plate 163 is expanded, the connection plates 163 in the first to fifth rows move as a whole in the right direction in FIG.

  The operation of the article transfer device according to the above configuration will be described. A tray 102 in which a 6-row 5-column first-type article A and a 6-row 5-column second-type article B are arranged in the column direction is conveyed by a tray supply conveyor 104, and a first robot (not shown). (Refer to the leftmost tray 102 in the uppermost stage in FIG. 4). The transfer head 118 of the first robot is provided with two transfer units 122 and 124. When the articles A and B are taken out from the tray 102, as shown in FIG. In the mounting unit 122, the Y cylinder 144 is extended, and the five rows of connecting plates 123 to which the three suction pads 120 are attached are positioned in the upper frame 126, and the X cylinder 148 is contracted. Thus, the five rows of connecting plates 123 are in close proximity. On the other hand, in the second transfer unit 124, the Y cylinder 174 extends to position the five rows of connecting plates 163 in the lower frame 128, and the first X cylinder 169 contracts to cause the five rows of connecting plates 163 to move. It is in an approaching state. Further, the second X cylinder 177 is in a contracted state.

  By the operation of the first robot, the suction pads 120 of the first transfer unit 122 and the second transfer unit 124 move above the tray 102 in the above state (the state shown in FIG. 5A) and descend at that position. Then, the articles A and B are adsorbed and taken out, respectively. The first transfer unit 122 takes out the first kind of articles A (the article A in the pick-up area of the first area) for 3 rows and 5 columns located in the upper left part of the tray 102, and the second transfer unit 124. Takes out the second type of article B (the article B in the pick-up area of the second area) for 3 rows and 5 columns located in the lower right part of the tray 102. Articles A and B taken out by the first transfer unit 122 and the second transfer unit 124 are in the state shown on the left side of the second stage in FIG. The articles A and B of each type at this time are in the same state as when the pitch P1 in the column direction and the pitch P2 in the row direction are accommodated in the tray 102, and are arranged at substantially the same interval. In this embodiment, the three articles A and B in each row are attached to the connecting plates 123 and 163, so that the distance between them does not change.

  Next, the X cylinder 148 of the first transfer unit 122 and the first X cylinder 169 of the second transfer unit 124 are operated to widen the interval between the connection plates 123 and 163 to which the suction pads 120 and 162 are attached. . In the first transfer unit 122, the connection plates 123 from the second row to the fifth row are spaced apart at equal intervals with the connection plate 123 in the first row as a reference. Further, when the first X cylinder 169 is extended in a state where the second X cylinder 177 of the second transfer unit 124 is contracted, the fifth row of connection plates 163 connected to the second X cylinder 177 via the connection arm 179. As a reference, the connection plates 163 from the first row to the fourth row are expanded (see FIGS. 6A and 6B). When the interval between the rows of the articles A and B of each kind is expanded in this way, as shown on the left side of the third row in FIG. 4, the articles A of the first kind and the articles B of the second kind are in the same row. The pitch between the rows is P3. At this time, the pitch P3 between the rows coincides with the interval between the buckets 6 of the bucket conveyor 8 shown in the lowermost stage of FIG.

  Subsequently, the second X cylinder 177 of the second transfer unit 124 is operated, and the Y rail 166 on which the connecting plate 163 to which the fifth row of suction pads 162 are attached is supported on the right side of FIG. Move in the direction. As described above, the operation of the first X cylinder 169 widens the interval between the connection plates 163, and the first to fourth X-direction transmission plates 178, 180, 182, and 184 have long slots 178a, 180a, 182a, Since the pin 165 fitted to the 184a is relatively moved to the ends of the long holes 178a, 180a, 182a, 184a, the fourth to first connection is performed according to the movement of the connection plate 163 in the fifth row. The plate 163 also moves by the same amount (see FIGS. 7A and 7B). The movement amount of the second-type article B is approximately the size of the articles A and B, and this movement causes the first-type article A and the second transfer unit 124 held by the first transfer unit 122 to move. The position of the second-type article B held is in the state on the left side of the fourth stage in FIG. If the second X cylinder 177 is extended with the first X cylinder 169 of the second transfer unit 124 turned on, the piston rod 169a of the first X cylinder 169 contracts by this extension.

  The first product A and the second product B, which are located on the same row, are shifted in the row direction by the amount of the products A and B, and then the Y cylinder 144 of the first transfer unit 122 and the second 2 The Y cylinder 174 of the transfer unit 124 is contracted together, and the connection plate 123 of the suction pad 120 holding the first type of article A is moved along the Y rail 132 toward the second transfer unit 124. On the contrary, the connecting plate 163 of the suction pad 162 holding the second type of article B is moved along the Y rail 166 toward the first transfer unit 122 (FIGS. 8A and 8B). reference). By this movement, the first-type article A held in the first transfer unit 122 and the second-type article B held in the second transfer unit 124 are in parallel in the column direction. (State shown in the left side of the fifth row in FIG. 4).

  A first type of article A held on each row of suction pads 120 of the first transfer unit 122 and a second type of article B held on the suction pads 162 of each row of the second transfer unit 124. Are inserted into the bucket 106 of the bucket conveyor 108 by the operation of the first robot. Since the two types of articles A and B are inserted into one bucket 106 as a set in a row, the transfer is completed by one operation. In addition, when the articles processed by the article transfer apparatus are, for example, the flanged containers FA and FB shown in FIG. 9, the first-type article FA and the second-type article FB are arranged at adjacent positions. Since the articles may interfere with each other, the heights of the suction surfaces of the suction pad 120 of the first transfer unit 122 and the suction pad 162 of the second transfer unit 124 are changed. In this embodiment, as shown in FIG. 9, the height of the collar 186 at the base of the suction pad 162 of the second transfer unit 124 is made higher than the collar 188 of the first transfer unit 122, so that Even if the articles FA and FB are moved to adjacent positions, they do not interfere with each other. In this embodiment, the distance between the articles A and B in each row (pitch P1 in the Y direction) is accommodated in the bucket 106 while remaining the same as the state accommodated in the tray 102. Although the gap in the Y direction remains open in the bucket 106, the articles A and B in the bucket 106 are pushed out in the Y direction by the pusher by a downstream carting machine (not shown), so there is a gap. There will be no problems.

A Goods of the first kind B Goods of the second kind 4 Upstream conveying means (tray supply conveyor)
6 Transport section (bucket)
8 Downstream transport means (bucket conveyor)
10 First transfer means (first robot)
12 Second transfer means (second robot)
20 Holding member (Suction pad)
22 1st transfer unit 24 2nd transfer unit 62 Holding member (suction pad)

Claims (4)

A first region made up of a first type of product arranged in a matrix of m rows and n columns and a second region made up of a second type of product arranged in a matrix of m rows and n columns are adjacent in the column direction. An upstream conveying means for conveying the formed article group, and a first transfer means for collectively taking out a predetermined number of articles from the first area and the second area of the upstream conveying means by holding members arranged in a matrix. And a predetermined number of articles from the first area and the second area of the upstream transport means by holding members arranged along the upstream transport means on the downstream side of the first transfer means and arranged in a matrix. A second transfer means for picking up a batch and a downstream transfer means having a plurality of transfer sections, and picking up articles from the upstream transfer means by the first transfer means and the second transfer means. Transfer to the downstream transport means, In the article transfer apparatus for forming a first breed and the group of articles in which the article was an aligned in a predetermined arrangement of the two varieties each conveying compartment,
The first transfer means includes a first transfer unit that picks up an article from a pick-up area on the first area, and an article from the pick-up area on the second area by a plurality of holding members arranged in a matrix. A second transfer unit for picking up, and the second transfer means includes a third transfer unit for picking up an article from a pick-up area on the first area by a plurality of holding members arranged in a matrix, and A fourth transfer unit that picks up articles from a pick-up area on the second area;
The pick-up area of the second transfer unit is set so as to be shifted in the row direction in the group of articles on the upstream conveying means with respect to the pick-up area of the first transfer unit, and the pick-up area of the third transfer unit Are aligned in the column direction in the article group on the upstream conveying means with respect to the pick-up area of the first transfer unit, and shifted in the row direction, and the pick-up area of the fourth transfer unit is The article transfer apparatus, wherein the article transfer apparatus is set so as to coincide with the pick-up area of the first transfer unit in the row direction in the article group on the upstream-side transport unit and is shifted in the column direction.   In each of the first to fourth transfer units, an arrangement interval of each holding member is set, and a first interval for transferring an article from the first interval for picking up the article from the upstream conveying means to the downstream conveying means. 2. The article transfer device according to claim 1, further comprising an interval changing means for changing the interval to two intervals.   Each of the transfer means picks up articles from the upstream transfer means by one and the other transfer unit, and one kind of product is placed on a predetermined number of transfer sections of the downstream transfer means by one transfer unit. 3. The article of the other type is transferred to the conveyance section where the one transfer unit has transferred the article after the other transfer unit is placed. The article transfer device described in 1.   Each transfer means moves at least one of the holding members of the one and the other transfer units at the second interval in the row direction so that the holding members of the transfer units are alternately adjacent to each other. The article transfer apparatus according to claim 2, further comprising a unit moving unit.

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