JP7675418B2 - Transport device and transport system - Google Patents

Description

This application relates to a transport device and a transport system.

A conventional transfer device is known that includes a plurality of suction sections that suction the object to be transferred, a support section that supports the plurality of suction sections, and a transfer section that transfers the object to be transferred that has been suctioned by the suction sections (see, for example, Patent Document 1). However, this transfer device has a problem in that the position of the suction sections cannot be changed after the object to be transferred has been suctioned.

JP2018-177325A

The challenge is to provide a transfer device and transfer system that can change the position of the suction part after the object to be transferred is adsorbed.

The transfer device includes a plurality of suction parts that adsorb the object to be transferred, a support part that supports the plurality of suction parts, and a transfer part that transfers the object adsorbed by the suction parts, the support part includes a deformation part that can change the position of the suction parts, and at least one of the suction parts is attached to the deformation part.

With this configuration, the transfer device can change the position of the suction part after adsorbing the object to be transferred.

The transfer system includes a transfer unit that transfers the object to be transferred and the transfer device.

With this configuration, the transfer system can change the position of the suction unit after suctioning the object to be transferred by the transport unit.

FIG. 1 is a schematic top view showing a transfer system according to the present embodiment. FIG. 2 is a right side view showing the transfer device according to the present embodiment. FIG. 3 is a right side view showing the operation of the transfer device according to this embodiment. FIG. 4 is a top view showing a loading method 1 for loading objects to be transported into a transport case. FIG. 5 is a top view showing a second loading method for loading objects into a transport case. FIG. 6 is a top view showing a loading method 3 for loading objects to be transported into a transport case. FIG. 7 is a right side view showing a transfer device according to another embodiment. FIG. 8 is a right side view showing the operation of a transfer device according to another embodiment. FIG. 9 is a top view showing a transfer device according to yet another embodiment. FIG. 10 is a top view showing the operation of a transfer device according to still another embodiment of the present invention.

One embodiment of the transfer system will be described below with reference to Figures 1 to 6. Note that in each figure (as well as Figures 7 to 10), the dimensional ratios in the drawings do not necessarily match the actual dimensional ratios, and the dimensional ratios between the drawings do not necessarily match either.

As shown in FIG. 1, the transfer system 1 according to this embodiment includes a first transfer section 3 that transfers the object 2, a second transfer section 5 that transfers a transport case 4 that contains the object 2, and a transfer device 6 that transfers the object 2.

The object to be transferred 2 is a typical egg container filled with eggs, but is not limited to this and may be, for example, agricultural products (e.g., apples). The egg container may have a flat lid or an uneven shape that conforms to the shape of the eggs. The egg container may also hold 4, 6, 10, or 12 eggs. Furthermore, the egg container may be a container that can accommodate any size of egg, from SS size to LL size.

The first transport unit 3 is a belt conveyor, and includes a conveyor belt 31 that transports the transported object 2 from front to rear (in the direction of the arrow in FIG. 1), and a first stopping device 32 that stops the transported object 2 on the conveyor belt 31. However, the first transport unit 3 is not limited to this, and may be, for example, a chain conveyor or a roller conveyor.

The first stopping device 32 can stop the transport of the object 2 on the conveyor belt 31. This allows the first stopping device 32 to stop the object 2 appropriately in accordance with the transport capacity of the transport device 6. In addition, the first stopping device 32 can, for example, arbitrarily space the objects 2, 2 on the conveyor belt 31. The first stopping device 32 may be, for example, the stopping device shown in FIG. 15 of JP 2018-177524 A.

The transport case 4 is a box that is open at the top, and may be, for example, a box made of plastic or cardboard, or may be a rack that can be opened at the top by folding down each level. The transport case 4 may also be, for example, rectangular or square in shape when viewed from above.

The second conveying section 5 includes a conveying path 51 that conveys the transport case 4 from right to left (the direction of the arrow in FIG. 1), and a second stopping device 52 that stops the transport case 4 on the conveying path 51. The conveying path 51 may be a belt conveyor, a chain conveyor, or a roller conveyor, and may directly convey the object 2 to be conveyed. The second stopping device 52 stops the transport case 4 at a position where the object 2 to be conveyed is to be conveyed by the conveying device 6.

As shown in Figures 1 and 2, the transfer device 6 includes a plurality of (two or more) suction units 7 that suction the object 2 to be transferred, a support unit 8 that supports the plurality of suction units 7, and a transfer unit 9 that transfers the object 2 suctioned by the suction units 7 from the first conveying unit 3 to the transport case 4. The transfer device 6 according to this embodiment includes five suction units 7 arranged in a row in the front-rear direction, but is not limited to this. For example, the transfer device 6 may include six suction units 7 arranged in a row in the front-rear direction, or may be arranged in two rows in the front-rear direction.

The suction unit 7 includes a plurality of suction pads 71 that suction the transferred object 2, an suction unit body 72 to which the plurality of suction pads 71 are attached, and suction means (not shown). Here, the suction unit 7 and the suction unit body 72 that are moved by the deformation unit 83 described below are referred to as the movable suction unit 7M and the movable suction unit body 72M, respectively.

The suction means according to this embodiment is suction by a vacuum pump, but is not limited to this. For example, the suction means may be suction by a vacuum ejector. The vacuum pump is connected to the suction unit main body 72 via a tube. Note that there may be one vacuum pump for multiple suction units 7, or multiple vacuum pumps.

The suction pad 71 comprises a suction cup portion 71a made of silicone rubber and an insertion portion 71b that is inserted into an insertion hole described later. With this configuration, even if the suction surface of the object to be transferred 2 is curved or stepped, the suction cup portion 71a can suction the object to be transferred 2 by appropriately deforming relative to the suction surface of the object to be transferred 2. Six suction pads 71 (2 (front-back) x 3 (left-right)) are arranged on the lower part of the suction portion main body 72. However, this is not limited to this, and for example, the number of suction pads 71 may be appropriately selected depending on the size of the object to be transferred 2.

The suction unit main body 72 is substantially rectangular and includes a plurality of connection parts 72a at the top that connect to the suction means, a plurality of insertion holes (not shown) at the bottom into which the plurality of suction pads 71 are inserted, and a plurality of suction paths (not shown) that connect the holes of the connection parts 72a to the plurality of insertion holes. The connection parts 72a according to this embodiment are arranged in pairs on the left and right of the first support part 81 described below, and three suction paths are provided for each connection part 72a that connect to the three insertion holes, but this is not limiting.

The support unit 8 includes a first support unit 81 that supports the plurality of suction units 7, a second support unit 82 that is attached to the transfer unit 9, and a deformation unit 83 that can move the position of the suction unit 7 (movable suction unit 7M) that is located at one of the ends of the row.

The first support part 81 is generally rectangular, and has a number of suction part bodies 72 attached to its lower part in a line in the front-rear direction. The first support part 81 according to this embodiment has four suction part bodies 72 attached to the front, whose positions of the suction parts 7 do not change due to the deformation parts 83, but is not limited to this.

The second support section 82 comprises rectangular plate members 82a, 82a arranged above and below, and four cylindrical support posts 82b arranged at the four corners between the plate members 82a, 82a. In the second support section 82, the first support section 81 is attached to the lower plate member 82a, and the transfer section 9 is attached to the upper plate member 82a.

The deformation unit 83 includes a power unit 83a that can move the position of the suction unit 7 in the row direction (front-rear direction) of the suction unit 7, a pair of support plates 83b, 83b with an L-shaped cross section that support the power unit 83a at the front and rear, a connecting unit 83c that connects the suction unit main body 72 (movable suction unit main body 72M) located at one end of the row to the power unit 83a, a guide unit 83d that guides the movement of the suction unit 7, and a box-shaped guide cover unit 83e that covers the guide unit 83d.

With this configuration, the deformation section 83 can move the position of the movable suction section 7M in the row direction (front-back direction) after adsorbing the transported object 2 (see FIG. 3). This allows the transport device 6 to, for example, reduce the number of times the transported object 2 is transported, and efficiently accommodate various stacking methods within the transport case 4 (for example, providing any interval between the transported objects 2). In addition, for example, the deformation section 83 can adjust the interval between the transported objects 2 between Lmin and Lmax (see FIG. 2 and FIG. 3).

The deformation unit 83 in this embodiment connects the suction unit 7 (movable suction unit 7M) located at the rear end of the row to the connecting unit 83c, but is not limited to this. For example, the deformation unit 83 may connect the suction unit 7 (movable suction unit 7M) located at the front end of the row to the connecting unit 83c. Also, the power unit 83a in this embodiment is an air cylinder, but is not limited to this. For example, the power unit 83a may be an electric actuator.

The connecting part 83c includes a connecting plate 831c with an L-shaped cross section that moves together with the operating part 831a of the power part 83a, a fixing part 832c that fixes the connecting plate 831c to the operating part 831a, and a plurality of cylindrical connecting columns 833c that connect the connecting plate 831c to the movable suction part main body 72M. Two connecting columns 833c according to this embodiment are arranged on each of the left and right sides of the first support part 81.

The guide portion 83d is a linear guide and is attached to the guide cover portion 83e and the connecting plate 831c in the front-rear direction. The guide cover portion 83e is attached to the first support portion 81. With this configuration, the deformation portion 83 can smoothly move the movable adhesion portion 7M in the front-rear direction. This improves, for example, the operating accuracy of the movable adhesion portion 7M by the deformation portion 83.

The transfer unit 9 is a robot arm with six degrees of freedom, and transfers the object 2 adsorbed by the suction unit 7 from the first conveying unit 3 to the transport case 4. However, this is not limited to this, and the transfer unit 9 may transfer the object 2 adsorbed by the suction unit 7 from the first conveying unit 3 to the second conveying unit 5.

Next, a method for loading the object 2 on the transport case 4 will be described. The object 2 used in the description is a flat-type egg container. The transport case 4 is a rack with four shelves on which egg containers can be loaded, and can load 56 packs of egg containers (14 packs x 4 shelves, for a total of 224 packs) per shelf. The operation of transporting the object 2 from the first transport section 3 to the transport case 4 by the transport device 6, loading the object 2 on the transport case 4, and returning the suction section 7 of the transport device 6 to above the first transport section 3 constitutes one process.

(Loading method 1)
As shown in Fig. 4, in loading method 1, one tier (14 packs) of transported objects 2 is loaded onto a transport case 4 in six steps. In loading method 1, 96 steps (6 steps x 4 tiers x 4 shelves) are required to load four tiers of transported objects 2 onto all four shelves of the transport case 4. Specifically, the transported objects 2 are loaded onto the transport case 4 in the following order. In Fig. 4 (similar to Figs. 5 and 6), the transported objects 2 loaded in each step are indicated by two-dot chain lines.
(1) Three packs of transported objects 2 are loaded onto the right rear side of the transport case 4 with the longitudinal direction of the objects 2 being the front-to-rear direction.
(2) Three packs of the transported objects 2 are loaded on the left rear side of the transport case 4 with the longitudinal direction of the objects 2 being the front-to-rear direction.
(3) Three packs of the transported objects 2 are loaded onto the right front side of the transport case 4 with the longitudinal direction of the transported objects 2 being the front-rear direction.
(4) Three packs of transported objects 2 are loaded onto the left front side of the transport case 4 with the longitudinal direction of the objects 2 being the front-rear direction.
(5) One pack of the objects 2 is loaded between the objects 2 in the center of the right side of the transport case 4 with the longitudinal direction of the objects 2 aligned left to right.
(6) One pack of the objects 2 is loaded between the objects 2 in the center of the left side of the transport case 4 with the longitudinal direction of the objects 2 aligned left to right.

(Loading method 2)
5, in loading method 2, one layer of the objects 2 to be transported is loaded onto the transport case 4 in four steps. In loading method 2, 4 steps x 4 layers x 4 shelves, or 64 steps, are required to load four layers of the objects 2 onto all four shelves of the transport case 4. Specifically, the objects 2 to be transported are loaded onto the transport case 4 in the following order:
In steps (1) to (3), the transported object 2 is loaded into the transport case 4 in the same manner as in loading method 1.
(4) With five packs of objects 2 adsorbed to the suction unit 7 (see Figs. 1 to 3), three packs are loaded on the left front side of the transport case 4 with the longitudinal direction of the objects 2 as the front-to-rear direction. Then, the objects 2 are rotated 90 degrees by the transport unit 9 (see Figs. 1 to 3), and one of the remaining two packs is loaded between the objects 2 at the center of the right side and the center of the left side of the transport case 4 with the longitudinal direction of the objects 2 as the left-to-right direction.

(Loading method 3)
6, in loading method 3, one layer of the objects 2 to be transported is loaded onto the transport case 4 in three steps. In loading method 3, 48 steps (3 steps x 4 layers x 4 shelves) are required to load four layers onto all four shelves of the transport case 4. Specifically, the objects 2 to be transported are loaded onto the transport case 4 in the following order:
(1) Four packs of transported objects 2 are loaded on the right rear side of the transport case 4 with the longitudinal direction of the objects 2 being the front-rear direction.
(2) With five packs of objects 2 adsorbed to the suction section 7, two packs are loaded on the left rear side of the transport case 4 with the longitudinal direction of the objects 2 as the front-to-rear direction. Then, the remaining three packs are loaded on the right front side of the transport case 4 with the longitudinal direction of the objects 2 as the front-to-rear direction.
(3) Loads the transported object 2 into the transport case 4 in the same manner as in step (4) of loading method 2.

By using split transfer in which the loading timing of each of the objects 2 adsorbed to the suction section 7 is staggered, as in step (4) of loading method 2 and steps (2) and (3) of loading method 3, the number of steps can be reduced (loading method 3 has half the number of steps of loading method 1). This improves the processing capacity of the transfer system 1 that transfers the objects 2 to the transport case 4. In addition, by combining this with position adjustment of the objects 2 by the deformation section 83, the processing capacity of the transfer system 1 can be further improved.

As described above, the transfer device 6 according to this embodiment comprises a plurality of suction parts 7 that suction the transferred object 2, a support part 8 that supports the plurality of suction parts 7, and a transfer part 9 that transfers the transferred object 2 that has been suctioned by the suction parts 7, the support part 8 comprises a deformation part 83 that can change the position of the suction parts 7, and at least one or more suction parts 7 (movable suction parts 7M) are attached to the deformation part 83.

With this configuration, the transfer device 6 can change the position of the suction part 7 after adsorbing the object to be transferred 2.

In addition, the transfer device 6 according to this embodiment is configured such that the multiple suction parts 7 are attached to the support part 8 in a row, and the deformation part 83 can move the position of the suction part 7 (movable suction part 7M) in the row direction.

With this configuration, the transfer device 6 can move the position of the movable adsorption part 7M in the row direction (front-back direction) after adsorbing the transferred object 2.

In addition, in the transfer device 6 according to this embodiment, the deformation unit 83 is configured to include a power unit 83a that can move the position of the suction unit 7 (movable suction unit 7M) in the row direction (front-back direction), and a connecting unit 83c that connects the suction unit 7 (movable suction unit 7M) located at one end of the row to the power unit 83a.

With this configuration, the transfer device 6 can move the position of the movable adsorption part 7M in the row direction (front-back direction) after adsorbing the transferred object 2.

In addition, the transfer device 6 according to this embodiment may be configured such that the deformation unit 83 includes at least one power unit 83a capable of moving the position of the suction unit 7 in the row direction (front-back direction), and a connecting unit 83c that connects two adjacent suction units 7 (movable suction units 7M) at one end of the row to the power unit 83a.

With this configuration, after the transfer device 6 adsorbs the transferred object 2, it can move the positions of two adjacent movable adsorption parts 7M at one end of the row in the row direction (front-back direction).

The transfer system 1 according to this embodiment is configured to include a transfer section (first transfer section 3) that transfers the object 2 to be transferred, and a transfer device 6.

With this configuration, the transfer system 1 can change the position of the suction unit 7 after suctioning the object 2 transported by the first transport unit 3.

The transfer device 6 and the transfer system 1 are not limited to the configuration of the above-mentioned embodiment, nor are they limited to the above-mentioned effects. Furthermore, the transfer device 6 and the transfer system 1 can of course be modified in various ways without departing from the scope of the present application. For example, it is of course possible to arbitrarily select one or more of the configurations, methods, etc. related to the various modified examples described below and adopt them in the configurations, methods, etc. related to the above-mentioned embodiment.

(1) In the transfer device 6 according to the above embodiment, the support unit 8 is configured to include a deformation unit 83 capable of moving the position of the suction unit 7 (movable suction unit 7M) arranged at one end of the row. However, the present invention is not limited to this configuration. For example, as shown in FIG. 7, the support unit 8 may be configured to include a deformation unit 83 capable of moving the positions of two adjacent suction units 7 (movable suction units 7M) at one end of the row.

In this configuration, the connecting portion 83c includes a first connecting plate 834c and a second connecting plate 835c with an L-shaped cross section that operate together with the operating portion 831a, a fixing portion 832c that fixes the first connecting plate 834c and the second connecting plate 835c to the operating portion 831a, a plurality of connecting columns 833c that connect the first connecting plate 834c and the second connecting plate 835c to the two movable suction portion bodies 72M, 72M, and a plurality of third connecting plates 836c that connect the two movable suction portion bodies 72M, 72M together.

With this configuration, the deformation section 83 can change the positions of the two movable suction sections 7M in the row direction (front-back direction) after adsorbing the transported object 2 (see FIG. 8). This allows the transport device 6 to, for example, reduce the number of times the transported object 2 is transported, and efficiently accommodate various stacking methods (for example, providing any interval between the transported objects 2) within the transport case 4 (see FIG. 1). In addition, for example, the deformation section 83 can adjust the interval between the transported objects 2 between Lmin and Lmax (see FIGS. 7 and 8).

In this configuration, the first connecting plate 834c is disposed at the rear and is connected to the suction unit main body 72 via a connecting pillar 833c. The second connecting plate 835c is disposed in front of the first connecting plate 834c and is connected to the suction unit main body 72 via a connecting pillar 833c. Three connecting pillars 833c are disposed on each side of the first support part 81. The third connecting plate 836c is roughly O-shaped when viewed from above and is disposed on the left and right of the first support part 81.

(2) In the transfer device 6 according to the above embodiment, the transfer device 6 includes five suction units 7, and the deformation unit 83 includes a power unit 83a capable of moving the position of the suction unit 7 (movable suction unit 7M) arranged at one end of the row in the row direction (front-back direction). However, the configuration is not limited to this, and for example, as shown in FIG. 9, the transfer device 6 may include six suction units 7, and the deformation unit 83 may include a power unit 83a capable of rotating three suction units 7 (movable suction units 7M) and changing the arrangement of the suction units 7 from one row to two rows.

In such a configuration, the power unit 83a is, for example, a stamping motor, and is arranged to the right of the suction unit 7. With such a configuration, the deformation unit 83 can change the arrangement of the suction units 7 from one row to two rows (see FIG. 10). As a result, even if the object 2 (see FIG. 1) cannot be transferred to the transport case 4 (see FIG. 1) when the suction units 7 are arranged in a single row, the object 2 can be transferred to the transport case 4 by changing the arrangement of the suction units 7 to two rows.

(3) In the transfer device 6 according to the above embodiment, the deformation unit 83 is configured to include one power unit 83a. However, this is not limited to the above configuration, and the deformation unit 83 may be configured to include, for example, multiple power units 83a.

1: Transport system, 2: Object to be transported, 3: First transport section, 31: Conveyor belt, 32: First stop device, 4: Transport case, 5: Second transport section, 51: Transport path, 52: Second stop device, 6: Transport device, 7: Suction section, 71: Suction pad, 71a: Suction cup section, 71b: Insertion section, 72: Suction section main body, 72a: Connection section, 8: Support section, 81: First support section, 82: Second support section, 82a: Plate member, 82b: Support column, 83: Deformation section, 83a: Power section, 831a: Operation section, 83b: Support plate, 83c: Connection section, 831c: Connection plate, 832c: Fixation section, 833c: Connection column, 834c: First connection plate, 835c: Second connection plate, 836c: Third connection plate, 83d: Guide section, 9: Transport section

Claims (4)

A plurality of suction units that suction a plurality of objects to be transferred, which are egg containers ;
A support portion that supports the plurality of adsorption portions;
a transfer unit that transfers the plurality of objects to be transferred that are adsorbed by the plurality of adsorption units,
the support portion includes a deformation portion capable of changing the arrangement of only less than half of the plurality of suction portions,
Less than half of the plurality of suction portions are attached to the deformation portion,
At least half of the plurality of suction portions are supported by the support portion so that their positions cannot be changed;
The plurality of suction portions are attached to the support portion in a row,
A transfer device , wherein the deformation portion is capable of moving the position of the suction portion in the column direction . The transfer device according to claim 1 , wherein the deformation portion comprises a power portion capable of moving the position of the suction portion in the row direction, and a connecting portion connecting the suction portion arranged at one end of the row to the power portion. The transfer device according to claim 1, wherein the deformation section comprises at least one power section capable of moving the position of the suction section in the row direction, and a connecting section that connects each of two adjacent suction sections and the power section at one end of the row. A conveying unit that conveys the object to be conveyed;
A transfer system comprising: a transfer device according to any one of claims 1 to 3 .