Article transfer device

Abstract

To provide an article transfer device that is not hindered from arraying articles even if article supply intervals change.SOLUTION: An article transfer device 1 distributes bags G to outside an article introduction conveyor 11 with an air nozzle 71 of an article distribution part 70 when a control part 80 determines that the bags G cannot be arrayed even when arriving at an array conveyor 21 as time intervals Pt of the bags G supplied to the article introduction conveyor 11 from an upstream side become shorter.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present disclosure relates to an article transfer device. [Background technology]

[0002] In recent years, article transfer devices that collect multiple articles and transfer them to a predetermined position have become widespread. For example, in the device described in Patent Document 1 (JP Patent Publication 2018-154468 A), articles transported in a first direction by a first conveyor are aligned on a second conveyor and transported in a second direction as an article group. Summary of the Invention [Problem to be solved by the invention]

[0003] In the above-mentioned device, it is necessary to align the articles on the second conveyor, and if the spacing between the articles transported by the first conveyor becomes narrow, the second conveyor may not be able to process them in time, which may hinder the alignment operation and disrupt the posture of the articles.

[0004] Therefore, there is a demand for an article transfer device that does not interfere with the alignment of articles even if the article supply interval changes. [Means for solving the problem]

[0005] The article transfer device of the first aspect includes a conveying section, an alignment section, a sorting section, and a control section. The conveying section conveys articles. The alignment section collects a predetermined number of articles conveyed from the conveying section and aligns them to form an article group. The sorting section sorts the articles on the conveying section out of the conveying section before they reach the alignment section. The control section determines whether the articles heading to the alignment section can be aligned in the alignment section, and sorts the articles via the sorting section when it determines that the articles cannot be aligned.

[0006] In an article transfer device, when the intervals between articles supplied from the upstream side to the conveying section become shorter, there are cases where the articles cannot be aligned in the alignment section even if they reach the alignment section from the conveying section. In such cases, the aligned posture of the articles is disturbed. Therefore, articles that are determined not to be aligned in the alignment section are sorted on the conveying section and are not allowed to reach the alignment section, thereby preventing the aligned posture of the articles from being disturbed.

[0007] An article transfer device according to a second aspect is the article transfer device according to the first aspect, wherein the alignment section includes an alignment conveyor. Each time the alignment conveyor receives an article from the transport section, it transports the article a predetermined distance in one direction and stops to wait for the subsequent article.

[0008] With this article transfer device, instead of immediately sending the articles received from the conveying section to the next process, time is ensured to align them on the alignment conveyor, thereby preventing the next process from being overwhelmed with processing.

[0009] An article transfer device according to a third aspect is the article transfer device according to the first or second aspect, further comprising a first detection unit. The first detection unit detects an interval at which articles are supplied to the conveying unit. When the interval is equal to or less than a first threshold, the control unit distributes the articles out of the conveying unit via the distribution unit.

[0010] In this article transfer device, since a determination is made as to whether or not to sort the articles when they are supplied to the transport section, the articles are reliably sorted before they reach the alignment section.

[0011] An article transfer device of a fourth aspect is the article transfer device of the third aspect, further comprising a second detection unit. The second detection unit detects the number of articles stuck in the alignment unit. A plurality of groups of articles can be aligned in the alignment unit. When the number of articles stuck in the alignment unit is equal to or greater than a second threshold, the control unit sorts the articles out of the conveying unit via the sorting unit, regardless of the interval at which the articles are supplied to the conveying unit.

[0012] In this article transfer device, even if the intervals at which articles are supplied to the conveying section are appropriate, if the number of articles in the alignment section exceeds an allowable level, the alignment of the articles in the alignment section may be disturbed. In such a case, regardless of the intervals at which articles are supplied to the conveying section, the articles on the conveying section are sorted out of the conveying section, thereby preventing the alignment of the articles in the alignment section from being disturbed.

[0013] An article transfer device according to a fifth aspect is the article transfer device according to the fourth aspect, in which the control unit also functions as the second detection unit. The control unit calculates the number of articles remaining based on the number of aligning operations in the aligning unit.

[0014] This article transfer device does not require a physical sensor, which contributes to reducing the cost of the device.

[0015] An article transfer device according to a sixth aspect is the article transfer device according to the fourth aspect, in which the second detection unit is a camera, and the control unit recognizes the number of articles remaining from an image captured by the camera.

[0016] An article transfer device of a seventh aspect is the article transfer device of any one of the first aspect to the sixth aspect, in which the distribution unit includes an air nozzle, an air supply source, and a valve. The air nozzle sprays air toward the article. The air supply source supplies air to the air nozzle. The valve is connected between the air nozzle and the air supply source. The control unit controls the valve to turn on and off to switch between spraying and stopping air from the air nozzle. This article transfer device is easy to install and requires little space.

[0017] An article transfer device according to an eighth aspect is the article transfer device according to any one of the first to sixth aspects, wherein the sorting unit has a rotating member. The rotating member rotates between a standby position where it does not interfere with the articles on the conveying unit and an operating position where it hits the articles on the conveying unit and guides the articles out of the conveying unit.

[0018] An article transfer device of a ninth aspect is the article transfer device of any one of the first aspect to the eighth aspect, wherein the sorting section sorts articles out of the conveying section in a section between the upstream end and the center of the conveying section.

[0019] In this article transfer device, if an article is determined to be unacceptable in a process upstream of the conveying section, the rejected article is immediately removed.

[0020] The article transfer device of a tenth aspect is the article transfer device of any one of the first aspect to the ninth aspect, further comprising a transport means for transporting the group of articles to a predetermined position. The predetermined position is movable. Even if an abnormality occurs in the movement of the predetermined position, the transport of the articles from the transport section to the alignment section continues. Effect of the Invention

[0021] In the article transfer device disclosed herein, articles that are determined to be unable to be aligned in the alignment section are sorted on the conveying section and are not allowed to reach the alignment section, thereby preventing the articles from becoming out of alignment. [Brief description of the drawings]

[0022] [Figure 1] FIG. 2 is a schematic perspective view showing a configuration of an article transfer device. [Diagram 2] FIG. 4 is a control block diagram of the article transfer device. [Diagram 3] 1 is a perspective view of an article transfer device showing the carry-in conveyor from the aligning conveyor side with the contact surface of the carry-in conveyor being instantly removed from the bag. FIG. [Figure 4] 13 is a front view of the position of the bag as it falls from the carry-in conveyor when the contact surface between the carry-in conveyor and the bag is instantly removed. FIG. [Diagram 5] FIG. [Figure 6A] 1 is a schematic side view of an article transfer section that holds a plurality of bags together. [Figure 6B] 1 is a schematic side view of an article transfer section transferring multiple bags to a container; [Figure 7] FIG. 4 is a schematic plan view of the article conveying section and the article aligning section. [Figure 8] 4 is a schematic plan view of the article conveying section and the article alignment section when the article sorting section is operating. FIG. [Figure 9] 11 is a control flowchart of an item allocation unit. [Figure 10]10 is a control flow chart of an article sorting unit of an article transfer device according to a modified example. [Figure 11] FIG. 13 is a perspective view of an article transfer device according to another modified example. [Figure 12] 13 is a schematic plan view of an article conveying section and an article alignment section in which a rotating arm is arranged as an article sorting section; FIG. [Figure 13] 13 is a schematic plan view of the article conveying section and the article aligning section when the pivot arm in FIG. 12 is in operation; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] (1) Configuration of the article transfer device 1 Fig. 1 is a schematic perspective view showing the configuration of the article transfer device 1. In Fig. 1, a weighing device, a bag making and packaging machine, etc. (not shown) are arranged in the upstream process in the flow of bags G of the article transfer device 1. Only bags G that have passed weight, sealability, foreign matter inclusion inspection, etc. in the upstream process are supplied to the article transfer device 1.

[0024] The article transfer device 1 is composed of an article conveying section 10, an article alignment section 20, an article transfer section 30, an article detection section 60, and an article sorting section 70. The article conveying section 10 receives bags G and transports them to the article alignment section 20. The article alignment section 20 aligns the bags G supplied from the article conveying section 10. The article transfer section 30 transfers a plurality of articles aligned in the article alignment section 20 together to a container 40. When it is determined that a bag G heading toward the article alignment section 20 cannot be aligned in the article alignment section 20, the article sorting section 70 sorts the bag G out of the article conveying section 10.

[0025] Fig. 2 is a control block diagram of the article transfer device 1. In Fig. 2, a control unit 80 controls the operation of each driving part of the article conveying unit 10, the article alignment unit 20, the article transport unit 30 and the article sorting unit 70 of the article transfer device 1. The control unit 80 includes a CPU 81, a ROM 82 connected to the CPU 81, and a RAM 83.

[0026] (1-1) Item conveying section 10 The article transport section 10 has an article introduction conveyor 11, a carry-in conveyor 12, a support conveyor 13, and a position changing conveyor 14.

[0027] (1-1-1) Item introduction conveyor 11 The goods introduction conveyor 11 receives bags G that have passed inspections for weight, sealability, and the presence of foreign matter, and guides them to the carry-in conveyor 12.

[0028] (1-1-2) Loading Conveyor 12 The carry-in conveyor 12 conveys the bags G conveyed from the article introduction conveyor 11 to the article alignment section 20.

[0029] As shown in FIG. 1, when the carry-in conveyor 12 is viewed from the upstream side to the downstream side in the conveying direction of the bags G, the conveying surface is inclined clockwise.

[0030] Specifically, the posture of the bag G when it is transferred from the carry-in conveyor 12 to the aligning conveyor 21 is inclined so that the part that lands on the bag G already placed on the aligning conveyor 21 is upward and the part that lands directly on the aligning conveyor 21 is downward.

[0031] The carry-in conveyor 12 is extendable and retractable. In this embodiment, when the bag G reaches the tip of the carry-in conveyor 12, the contact surface between the carry-in conveyor 12 and the bag G is instantly removed. Fig. 3 is a perspective view of the article transfer device 1, in which the carry-in conveyor 12 is viewed from the aligning conveyor 21 side in a state in which the contact surface between the carry-in conveyor 12 and the bag G is instantly removed. Fig. 4 is a front view of the posture of the bag G when it falls from the carry-in conveyor 12, when the contact surface between the carry-in conveyor 12 and the bag G is instantly removed.

[0032] 3 and 4, when a bag G is transported downstream of the carry-in conveyor 12 and the position sensor 15 detects that the leading end of the bag G has reached the leading end of the carry-in conveyor 12, the leading end roller R1 of the carry-in conveyor 12 moves a distance D1 in a direction X2 opposite to the transport direction (first direction X1). At this time, the middle roller R2 of the carry-in conveyor 12 also moves a distance D1 in the direction X2 in conjunction with the bag G, thereby absorbing the slack in the conveyor belt when the leading end roller R1 moves in the direction X2.

[0033] Since the leading end of the carry-in conveyor 12 momentarily moves upstream of the bag G, the bag G suddenly loses the resistance from the conveying surface of the carry-in conveyor 12, but maintains the position at the time of conveyance due to inertia.

[0034] Therefore, the landing posture on the sorting conveyor 21 is likely to be the same as when the product leaves the carry-in conveyor 12, and disturbance of the posture when the product lands is suppressed.

[0035] (1-1-3) Support conveyor 13 The support conveyor 13 is disposed at the lower end of the inclined direction of the carry-in conveyor 12. The conveying surface of the support conveyor 13 and the conveying surface of the carry-in conveyor 12 are perpendicular to each other. Bags G moving on the conveying surface of the carry-in conveyor 12 are subjected to a component force of gravity along the inclined direction, so they slide down toward the support conveyor 13 while moving, and then move along the support conveyor 13. The conveying surface of the support conveyor 13 moves along the traveling direction of the conveying surface of the carry-in conveyor 12 so as not to interfere with the conveyance of the bags G.

[0036] (1-1-4) Position change conveyor 14 The position changing conveyor 14 is disposed at the upper end in the inclined direction of the carry-in conveyor 12. The position changing conveyor 14 is disposed on the conveying surface of the carry-in conveyor 12 so as to face the support conveyor 13. When the conveying surface of the carry-in conveyor 12 is viewed from the front, the downstream end of the position changing conveyor 14 in the conveying direction is closer to the support conveyor 13 than the upstream end.

[0037] When a corner of bag G comes into contact with position changing conveyor 14, bag G rotates counterclockwise around the contact point, and changes its position so that its long side faces diagonally downward along position changing conveyor 14. Bag G then hits support conveyor 13, changes its position so that its long side runs along support conveyor 13, and heads toward alignment conveyor 21.

[0038] (1-2) Article alignment section 20 The article alignment section 20 has an alignment conveyor 21, a discharge conveyor 22, and an anti-rotation conveyor 23.

[0039] (1-2-1) Alignment conveyor 21 and discharge conveyor 22 The alignment conveyor 21 and the aforementioned carry-in conveyor 12 are disposed so that their conveying directions are perpendicular to each other. Each time the alignment conveyor 21 receives a bag G, it conveys the bag G a fixed distance toward the carry-out conveyor 22.

[0040] Therefore, the bag G approaches the discharge conveyor 22 a certain distance from the position where it fell. Meanwhile, a part of the bag G that falls later lands on the sorting conveyor 21, and the remaining part leans against the previous bag G and tilts. Therefore, the bags G on the sorting conveyor 21 are lined up so that adjacent bags partially overlap each other.

[0041] After the last bag G in the row lands on the alignment conveyor 21, the alignment conveyor 21 and the carry-out conveyor 22 start operating simultaneously, and the alignment conveyor 21 and the carry-out conveyor 22 perform transport operations in the same direction. The N bags G aligned in a row on the alignment conveyor 21 move to the carry-out conveyor 22 as one article group, and the article group already on the carry-out conveyor 22 continues on the carry-out conveyor 22.

[0042] (1-2-2) Anti-rotation conveyor 23 The anti-rotation conveyor 23 is disposed in a substantially vertical position so as to face the terminal end of the carry-in conveyor 12. Specifically, of the two side surfaces of the aligning conveyor 21, the anti-rotation conveyor 23 is disposed along the side surface of the aligning conveyor 21 that is located farther from the terminal end of the carry-in conveyor 12.

[0043] As shown in Figure 4, the bag G, which has lost the resistance force from the loading conveyor 12, is given a speed component in the first direction X1, and so falls while approaching one of the two sides of the alignment conveyor 21 that is farthest from the end of the loading conveyor 12.

[0044] When the bag G lands on the alignment conveyor 21, the short side of the bag G abuts against the anti-rotation conveyor 23, and the short side of the bag G lands so as to be substantially aligned with the conveying surface of the anti-rotation conveyor 23.

[0045] The conveying surface of the anti-rotation conveyor 23 advances in synchronization with the aligning conveyor 21 in the second direction Y, which is the conveying direction of the aligning conveyor 21, at the same speed as the conveying surface of the aligning conveyor 21. Therefore, the short sides in contact with the conveying surface of the anti-rotation conveyor 23 and the short sides not in contact with it advance at the same speed, preventing the bags G from rotating.

[0046] Therefore, the anti-rotation conveyor 23 not only guides the short sides of the bags G along the second direction Y, but also prevents the bags G from rotating.

[0047] (1-3) Goods transfer department 30 The article transfer unit 30 is a parallel link robot having three sets of links. The article transfer unit 30 lifts up the group of articles in bags G that have been transported on the discharge conveyor 22, and moves horizontally toward above the container 40. When the article transfer unit 30 reaches above the container, it transfers the group of articles into the container 40.

[0048] Fig. 5 is a front view of the article transfer unit 30. In Fig. 5, the article transfer unit 30 includes a base 32, three servo motors 33a, 33b, and 33c, parallel link arms 34a, 34b, and 34c, and a suction holder 38. The article transfer unit 30 is a robot constituted by these components.

[0049] (1-3-1) Base 32 As shown in Fig. 5, the base 32 is located above the discharge conveyor 22 or the container 40 (see Fig. 3). The base 32 holds three servo motors 33a, 33b, and 33c below it at equal intervals.

[0050] (1-3-2) Parallel link arms 34a, 34b, 34c The parallel link arms 34a, 34b, and 34c have their upper ends connected to output shafts of servo motors 33a, 33b, and 33c, respectively, and their lower ends connected to a suction holder .

[0051] When the article transfer unit 30 is operating, the amount of rotation and the direction of rotation of each output shaft of each servo motor 33a, 33b, 33c are appropriately controlled, and the lower ends of each parallel link arm 34a, 34b, 34c move horizontally and vertically, and the suction holder 38 moves to any position within a fixed three-dimensional space.

[0052] (1-3-3) Suction holder 38 The suction holder 38 has a plurality of suction pads 38a on its lower part. Each suction pad 38a is connected to a suction tube 36 extending from a vacuum pump or a vacuum blower (not shown), and switches between a suction-holding state and a suction-released state of the bags G. The suction pads 38a can suction and release the group of articles by suctioning and releasing the group of articles.

[0053] 5, suction holder 38 grabs bags G1, G2, and G3 on discharge conveyor 22, and parallel link arms 34a, 34b, and 34c lift suction holder 38 and move it horizontally, releasing suction by suction holder 38 above container 40. As a result, bags G1, G2, and G3 are released from suction holder 38 and transferred into the container.

[0054] While the first group of articles, consisting of bags G1, G2, and G3, is being transferred, the next second group of articles, consisting of bags G4, G5, and G6, is already waiting on the alignment conveyor 21. A gap is secured between the first and second groups of articles in the conveying direction, so that when the article transfer section 30 transfers the first group of articles, bags G4, G5, and G6 of the second group of articles are prevented from being adsorbed by the suction holder 38.

[0055] Fig. 6A is a schematic side view of the article transfer section 30 that collectively holds a plurality of bags G. Fig. 6B is a schematic side view of the article transfer section 30 that transfers a plurality of bags G to a container 40.

[0056] 6A and 6B, the suction holder 38 of the article transfer section 30 collectively picks up a number of bags G of an article group moving on the discharge conveyor 22, transfers them to the container 40, and places them inside the container 40. The container 40 is moved to the next position by the container conveyor 50 every time a group of articles is dropped into it.

[0057] (1-4) Item detection unit 60 The article detection unit 60 includes a first detection unit 61 and a second detection unit 62. The first detection unit 61 detects bags G passing through the article introduction conveyor 11 of the article transport unit 10. The second detection unit 62 detects the number of bags G remaining on the alignment conveyor 21 and the discharge conveyor 22. Here, the control unit 80 also serves as the second detection unit 62.

[0058] (1-4-1) First detection unit 61 FIG. 7 is a schematic plan view of the article conveying section 10 and the article alignment section 20. In FIG. The first detection unit 61 is a photoelectric sensor having a light emitting unit 61a and a light receiving unit 61b. The first detection unit 61 is disposed at a position where it can detect a bag G entering the entrance of the article introduction conveyor 11.

[0059] 2, the first detection unit 61 (light-emitting unit 61a and light-receiving unit 61b) is connected to the control unit 80. A signal voltage input to the control unit 80 when the light-receiving unit 61b is receiving light from the light-emitting unit 61a is different from a signal voltage input to the control unit 80 when the light-receiving unit 61b is not receiving light from the light-emitting unit 61a.

[0060] When a bag G passes between the light-emitting unit 61a and the light-receiving unit 61b, the light from the light-emitting unit 61a is blocked, so that the light-receiving unit 61b cannot receive the light, changing the signal voltage input to the control unit 80. This makes it possible to detect the passage of the bag G.

[0061] (1-4-2) Second detection unit 62 Under the control of the control unit 80, the sorting conveyor 21 conveys each bag G received by the sorting conveyor 21 a fixed distance toward the carry-out conveyor 22. Then, when a group of articles consisting of a predetermined number of bags G is formed on the sorting conveyor 21, the bag G is conveyed onto the carry-out conveyor 22.

[0062] The control unit 80 sequentially measures the number of bags G remaining on the sorting conveyor 21 and the discharge conveyor 22 (hereinafter referred to as the remaining number F) from this series of operations. Here, the control unit 80 also functions as the second detection unit 62, but this is not limited thereto, and a separate sensor may be provided as the second detection unit 62.

[0063] (1-5) Goods sorting department 70 Fig. 8 is a schematic plan view of the article conveying section 10 and the article alignment section 20 when the article sorting section 70 is operating. In Fig. 8, the article sorting section 70 has an air nozzle 71, an air supply source 72, and an electromagnetic valve 73.

[0064] The air nozzle 71 is capable of spraying air toward the bag G. The air supply source 72 supplies air to the air nozzle. The solenoid valve 73 is connected between the air nozzle 71 and the air supply source 72.

[0065] The control unit 80 controls the solenoid valve 73 to turn on and off, switching between spraying and stopping air from the air nozzle 71 .

[0066] 7, the control unit 80 measures the time interval Pt from when the Nth bag G is detected to when the N+1th bag G is detected, based on the input signal from the first detection unit 61. The control unit 80 also calculates the relative distance between the Nth bag G and the N+1th bag G, based on the transport speeds of the article introduction conveyor 11 and the carry-in conveyor 12, and the time interval Pt.

[0067] Therefore, the shorter the time interval Pt, the shorter the relative distance between the Nth bag G and the N+1th bag G. If the relative distance between the Nth bag G and the N+1th bag G becomes too short, there is a risk that the N+1th bag G will reach the aligning conveyor 21 before the Nth bag G has completed aligning on the aligning conveyor 21, disrupting the alignment of the bags G.

[0068] Therefore, in this embodiment, when the time interval Pt is less than or equal to the first threshold value SH1, it is determined that the subsequent N+1th bag G is too close to the preceding Nth bag G, and alignment of the Nth bag G on the alignment conveyor 21 is being hindered.

[0069] Therefore, before the N+1th bag G on the article introduction conveyor 11 is transferred to the carry-in conveyor 12, the control unit 80 injects air from the air nozzle 71 toward the N+1th bag G, thereby redirecting it outside the article introduction conveyor 11.

[0070] 8, the air nozzle 71 can divert the bags G to the outside of the article conveying section 10 in the section of the article introduction conveyor 11. Therefore, not only when the alignment of the preceding bags G is hindered, but also when the bag G is determined to be unacceptable in a process upstream of the article introduction conveyor 11, the rejected bag is immediately removed.

[0071] (2) Operation of the article transfer device 1 Here, the operation will be described assuming that bags G1, G2, and G3 that have passed inspection are introduced from the upstream side to the article introduction conveyor 11 at appropriate supply intervals, and are then sequentially supplied to the carry-in conveyor 12. Therefore, the operation of the article sorting unit 70 will not be described here, but will be described later.

[0072] The carry-in conveyor 12 transports the bag G1 supplied from the article introduction conveyor 11 toward the alignment conveyor 21. When the leading end of the bag G1 reaches the leading end of the carry-in conveyor 12, the leading end of the carry-in conveyor 12 instantaneously moves a distance D1 in a direction X2 opposite to the first direction X1, as shown in FIG.

[0073] Bag G1 lands on the aligning conveyor 21 while maintaining the posture it had immediately before it was removed from contact with the carry-in conveyor 12. When there is no preceding bag on the aligning conveyor 21, bag G1 becomes the head of the line on the aligning conveyor 21. For ease of explanation, bag G1 will be described as the head of the line.

[0074] When the sorting conveyor 21 receives the bag G1, it conveys the bag G1 a certain distance toward the discharge conveyor 22 and waits to receive the following bag G2.

[0075] Next, when the leading end of bag G2 reaches the leading end of carry-in conveyor 12, the contact surface with carry-in conveyor 12 is instantly removed and bag G2 lands on the sorting conveyor 21 while maintaining the same posture.

[0076] The carry-in conveyor 12 is inclined so that the part that lands on the bag G1 already placed on the aligning conveyor 21 is at the top and the part that lands directly on the aligning conveyor 21 is at the bottom, so that the bag G2 falls while maintaining its inclined posture, with a part of it landing on the bag G1 and the remaining part landing on the aligning conveyor 21.

[0077] When the aligning conveyor 21 receives the bag G2, it conveys the bags G1 and G2 a certain distance toward the discharge conveyor 22 and waits to receive the following bag G3.

[0078] When the leading end of bag G3 reaches the leading end of carry-in conveyor 12, the contact surface with carry-in conveyor 12 is instantly removed and, maintaining the same posture at that time, it lands on the aligning conveyor 21. A part of bag G3 lands on bag G2, and the remaining part lands on the aligning conveyor 21.

[0079] Bags G1, G2, and G3 on the aligning conveyor 21 form a row in which adjacent bags partially overlap. When the row of bags G1, G2, and G3 is completed, the aligning conveyor 21 transports the row as one group of articles toward the carry-out conveyor 22. At this time, the carry-out conveyor 22 also operates in the same direction, so the group of articles on the aligning conveyor 21 moves onto the carry-out conveyor 22. If there is a preceding group of articles on the carry-out conveyor 22, that group of articles moves further downstream.

[0080] 6A and 6B, the suction holder 38 of the article transfer section 30 collectively picks up a number of bags G of an article group moving on the discharge conveyor 22, transfers them to the container 40, and places them inside the container 40. The container 40 is moved to the next position by the container conveyor 50 every time a group of articles is dropped into it.

[0081] The article transfer device 1 repeats the above-mentioned operations to pack the necessary bags G into the container 40.

[0082] Furthermore, even if an abnormality occurs in the movement of the container 40 by the container conveyor 50, the transport of the bags G from the article transport section 10 to the article alignment section 20 continues.

[0083] (3) Control of the article sorting unit 70 Here, the operation of the article sorting section 70 will be described assuming that the intervals at which bags G are supplied to the article introduction conveyor 11 are not stable. FIG.

[0084] (Step S1) In step S1 of FIG. 9, the control unit 80 resets the counter to N=1.

[0085] (Step S2) In step S3, the control unit 80 starts measuring time.

[0086] (Step S3) In step S3, control unit 80 determines whether or not there is a bag detection signal indicating that bag G has been detected. If there is a bag detection signal, control unit 80 proceeds to step S4, and if there is no bag detection signal, control unit 80 continues to determine whether or not there is a bag detection signal.

[0087] (Step S4) In step S4, the control unit 80 stores the time when the bag G was detected in step S3 as the time t(N) when the Nth bag G was detected.

[0088] (Step S5) In step S5, control unit 80 determines whether or not there is a bag detection signal indicating that bag G has been detected. If there is a bag detection signal, control unit 80 proceeds to step S6, and if there is no bag detection signal, control unit 80 continues to determine whether or not there is a bag detection signal.

[0089] (Step S6) In step S6, the control unit 80 adds 1 to the counter.

[0090] (Step S7) In step S7, the control unit 80 stores the time when the bag G was detected in step S5 as the time t(N+1) when the (N+1)th bag G was detected.

[0091] (Step S8) In step S8, the control unit 80 calculates the time interval Pt=t(N+1)−t(N).

[0092] (Step S9) In step S9, the control unit 80 determines whether the time interval Pt is equal to or less than the first threshold value SH1. If Pt≦SH1, the N+1th bag G is too close to the Nth bag G. Therefore, while the Nth bag G is being aligned on the alignment conveyor 21, there is a risk that the N+1th bag G will reach the alignment conveyor 21 and interrupt the alignment of the Nth bag G.

[0093] If Pt≦SH1, the control unit 80 proceeds to step S10, and must remove the (N+1)th bag G before it reaches the sorting conveyor 21. On the other hand, if Pt≦SH1 is not true, the control unit 80 returns to step S5.

[0094] (Step S10) In step S10, the control unit 80 opens the solenoid valve 73 of the article sorting unit 70 to spray air from the air nozzle 71 toward the (N+1)th bag G on the article introduction conveyor 11. This causes the (N+1)th bag G to be sorted out of the article introduction conveyor 11.

[0095] (Step S11) In step S11, the control unit 80 determines whether or not there is a stop signal for the article transfer device 1, and ends the control if there is a stop signal, and returns to step S5 if there is no stop signal.

[0096] As described above, in this embodiment, when the interval at which bags G are supplied to the item introduction conveyor 11 is unstable and the spacing between bags G is narrow and there is a risk of the bags G being hindered from being aligned, the item sorting section 70 can eliminate bags G that are at risk of hindering alignment.

[0097] (4) Variations Fig. 10 is a control flow chart of the article sorting unit 70 of the article transfer device 1 according to the modified example. The difference from the control flow chart of Fig. 9 is that step S9 is changed to step S9A, and step S9B is newly added.

[0098] In FIG. 10, steps S1 to S8, S10, and S11 are the same as those in the above embodiment, and therefore the description thereof will be omitted.

[0099] (Step S9A) In step S9A, the control unit 80 determines whether the time interval Pt is equal to or less than the first threshold value SH1. If Pt≦SH1, the N+1th bag G is too close to the Nth bag G. Therefore, while the Nth bag G is being aligned on the alignment conveyor 21, there is a risk that the N+1th bag G will reach the alignment conveyor 21 and interrupt the alignment of the Nth bag G.

[0100] Therefore, when Pt≦SH1, the control unit 80 proceeds to step S10 and must remove the (N+1)th bag G before it reaches the sorting conveyor 21. On the other hand, when Pt≦SH1 is not true, the control unit 80 proceeds to step S9B.

[0101] (Step S9B) In step S9B, the control unit 80 determines whether the number of bags G waiting, which is the number of bags G waiting on the alignment conveyor 21 and the discharge conveyor 22, is equal to or greater than the second threshold value SH2. When R≧SH2, even if the distance between the N+1th bag G and the Nth bag G is appropriate, bags G are stuck on the alignment conveyor 21 and the discharge conveyor 22, so it is better not to transport bags G to the alignment conveyor 21.

[0102] Therefore, when R≧SH2, the control unit 80 proceeds to step S10 and must remove the (N+1)th bag G before it reaches the sorting conveyor 21. On the other hand, when R≧SH2 is not true, the control unit 80 returns to step S5.

[0103] As described above, in this embodiment, even if the interval at which bags G are supplied to the item introduction conveyor 11 is stable, if there is a risk that bags G may stagnate on the alignment conveyor 21 and the discharge conveyor 22 and hinder the alignment of the bags G, the item sorting section 70 will remove the bags G that may hinder the alignment.

[0104] (5) Features (5-1) In the article transfer device 1, when the time interval Pt of the bags G supplied from the upstream side to the article introduction conveyor 11 shortens and the control unit 80 determines that the bags G cannot be aligned even when they reach the alignment conveyor 21, the air nozzle 71 of the article distribution unit 70 distributes the bags G outside the article introduction conveyor 11.

[0105] (5-2) Each time the aligning conveyor 21 receives a bag G from the carry-in conveyor 12, it transports it a predetermined distance in one direction and stops to wait for the following bag G. Since the bags G received from the carry-in conveyor 12 are not immediately sent to the next process, but are aligned by the aligning conveyor 21, a time leeway is ensured, which prevents the next process from being overwhelmed with processing.

[0106] (5-3) The control unit 80 measures the time interval Pt, which is the interval at which bags G are supplied to the article introduction conveyor 11, via the first detection unit 61. When the time interval Pt is equal to or less than the first threshold value SH1, the bag G is sorted out of the article introduction conveyor 11 via the article sorting unit 70. Since it is determined whether or not to sort the bag G at the stage at which the bag G is supplied to the article introduction conveyor 11, the bag G is reliably sorted before it reaches the alignment conveyor 21.

[0107] (5-4) The second detection unit 62 detects the number of bags G remaining on the alignment conveyor 21 and the discharge conveyor 22. When the number of bags G remaining is equal to or greater than a second threshold SH2, the control unit 80 distributes the bags G outside the article introduction conveyor 11 via the article distribution unit 70 regardless of the time interval Pt.

[0108] Even if the time interval Pt, which is the interval at which bags G are supplied to the article introduction conveyor 11, is appropriate, if the number F of bags G remaining on the alignment conveyor 21 and the discharge conveyor 22 exceeds an allowable level, there is a risk of disturbing the alignment of the bags G on the alignment conveyor 21 and the discharge conveyor 22. In such a case, regardless of the interval at which bags G are supplied to the article introduction conveyor 11, the bags G are sorted out of the article introduction conveyor 11, thereby preventing the alignment of the bags G on the alignment conveyor 21 from being disturbed.

[0109] (5-5) The control unit 80 also functions as the second detection unit 62. The control unit 80 calculates the number F of articles remaining on the sorting conveyor 21 and the carry-out conveyor 22 based on the number of sorting operations performed.

[0110] (5-6) The article allocating section 70 includes an air nozzle 71, an air supply source 72, and a solenoid valve 73. A control section 80 controls the solenoid valve 73 to turn on and off, switching between spraying air from the air nozzle 71 and stopping it.

[0111] (5-7) The air nozzle 71 can divert the bag G to the outside of the article conveying section 10 in the section of the article introduction conveyor 11. If the bag G is determined to be unacceptable in a process upstream of the article introduction conveyor 11, the rejected product is immediately removed.

[0112] (5-8) Even if an abnormality occurs in the movement of the container 40, the transport of the bags G from the article conveying section 10 to the article alignment section 20 continues.

[0113] (6) Other modifications In the above embodiment, the control unit 80 also functions as the second detection unit 62, and the article sorting unit 70 employs an air nozzle 71. However, this is not limited to this, and the second detection unit 62 may be a camera. Furthermore, the article sorting unit 70 may be a rotating arm that rotates between a standby position and an operating position.

[0114] 11 is a perspective view of an article transfer device 1 according to another modified example. In FIG. 11, a camera 162 is adopted as the second detection unit 62, and a rotating arm 171 is adopted as the article sorting unit .

[0115] (6-1) The control unit 80 recognizes the number F of bags G remaining on the sorting conveyor 21 and the discharge conveyor 22 from the image captured by the camera 162.

[0116] 10, the control unit 80 determines whether the retention number F is equal to or greater than the second threshold value SH2. When R≧SH2, even if the distance between the N+1th bag G and the Nth bag G is appropriate, bags G are stagnating on the alignment conveyor 21 and the discharge conveyor 22, so it is better not to transport bags G to the alignment conveyor 21.

[0117] Therefore, when R≧SH2, the control unit 80 proceeds to step S10 in Fig. 10, and must remove the (N+1)th bag G before it reaches the sorting conveyor 21. On the other hand, when R≧SH2 is not true, the control unit 80 returns to step S5 in Fig. 10.

[0118] As described above, the camera 162 is also useful as the second detection unit 62.

[0119] (6-2) Fig. 12 is a schematic plan view of the article conveying section 10 and the article alignment section 20 in which a rotating arm 171 is arranged as the article sorting section 70. In Fig. 12, the article sorting section 70 has a rotating arm 171. A motor or an air cylinder is used as the actuator that rotates the rotating arm 171.

[0120] Figure 13 is a schematic plan view of the article conveying section 10 and the article alignment section 20 when the rotating arm 171 of Figure 12 is operating. In Figure 13, the rotating arm 171 rotates from a standby position (Figure 12) where it does not interfere with the bag G on the article introduction conveyor 11 to an operating position where it abuts against the bag G on the article introduction conveyor 11 and guides the bag G out of the article introduction conveyor 11.

[0121] As described above, the rotating arm 171 is also useful as the article sorting section 70. [Explanation of symbols]

[0122] 1 Article transfer device 10. Item transport section (transport section) 11 Goods introduction conveyor (transport section) 12 Intake conveyor (transport section) 20. Article Alignment Section (Alignment Section) 21 Alignment conveyor (alignment section) 30 Goods transfer section (transfer means) 40 Container (in place) 61 First detection unit 62 Second detection section 70 Goods sorting department (sorting department) 71 Air nozzle 72 Air supply source 73 Solenoid valves 80 Control section 162 Camera (second detection unit) 171 Rotating arm (rotating member) G bag G1, G2, G3 1st article group (article group) G4, G5, G6 2nd article group (article group) [Prior art documents] [Patent documents]

[0123] [Patent Document 1] JP 2018-154468 A

Claims

1. A conveying unit that conveys an article; an alignment unit that collects and aligns a predetermined number of the articles conveyed from the conveying unit to form an article group; a sorting section that sorts the articles on the conveying section out of the conveying section before the articles reach the alignment section; a control unit that determines whether the articles heading toward the alignment unit can be aligned in the alignment unit, and distributes the articles via the distribution unit when it is determined that the articles cannot be aligned; Equipped with Goods transfer equipment.

2. The alignment unit includes an alignment conveyor that conveys each of the articles received from the conveying unit by a predetermined distance in one direction and stops to wait for the subsequent articles. The article transfer device according to claim 1 .

3. A first detection unit that detects an interval at which the articles are supplied to the conveying unit, When the supply interval is equal to or less than a first threshold value, the control unit distributes the articles to an outside of the conveying unit via the distribution unit.

3. An article transfer device according to claim 1 or 2.

4. A second detection unit that detects the number of the articles remaining in the alignment unit, A plurality of the article groups can be aligned in the alignment section, when the number of the retained articles becomes equal to or greater than a second threshold value, the control unit distributes the articles to the conveying unit via the distribution unit, regardless of the interval at which the articles are supplied to the conveying unit; The article transfer device according to claim 3.

5. The control unit also serves as the second detection unit, the control unit calculates the number of the articles remaining based on the number of alignment operations in the alignment unit. The article transfer device according to claim 4.

6. the second detector is a camera, The control unit recognizes the number of the articles remaining from an image captured by the camera. The article transfer device according to claim 4.

7. The allocating unit includes: An air nozzle that sprays air toward the object; an air supply source that supplies air to the air nozzle; a valve connected between the air nozzle and the air supply source; Including, The control unit controls the valve to turn on and off to switch between spraying and stopping air from the air nozzle.

3. An article transfer device according to claim 1 or 2.

8. The sorting unit has a rotating member that rotates between a standby position where it does not interfere with the article on the conveying unit and an operating position where it hits the article on the conveying unit and guides the article out of the conveying unit.

3. An article transfer device according to claim 1 or 2.

9. The sorting unit sorts the articles out of the conveying unit in a section between the upstream end and the center of the conveying unit.

3. An article transfer device according to claim 1 or 2.

10. Further comprising a transport means for transporting the group of articles to a predetermined position, The predetermined position is movable, Even if an abnormality occurs in the movement of the predetermined position, the transport of the article from the transport unit to the alignment unit is continued.

3. An article transfer device according to claim 1 or 2.

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