Product transfer device

Abstract

To provide a product transfer device that can store a large number of products while saving space.CONSTITUTION: A product transfer device includes a first conveying device 11 that conveys products 2 one by one, a second conveying device 12, a transfer robot 13 that picks up the products on the first conveying device and transfers them to a predetermined position, and a buffer device 14 that temporarily stocks the products. The buffer device is provided with a stock part 40 that temporarily stocks the products in a vertically stacked state. The stock part has a bottom part 60 that moves up and down within the space in which the products are stored, the products are stacked on the bottom, and can be taken in and out from the open area at the top, and guide members (44, 45, 48) are provided around the space that suppress horizontal movement of the products. The transfer robot has a function of supplying the products picked up from the first conveying device to the stock part, and a function of picking up the products temporarily stored in the stock part and supplying them to the second conveying device.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a product transfer device.

Background Art

[0002] In a device where a robot acquires a product conveyed by a first conveyor and supplies the acquired product to a predetermined position on a second conveyor, when the supply state of the product to the second conveyor is over-supplied, the robot has a function of temporarily placing the product acquired from the first conveyor in a temporary storage area installed between the first conveyor and the second conveyor. By doing so, even if there is a temporary stop or the like in the second conveyor or the system on its downstream side, the first conveyor and its upstream side can be continuously operated without being temporarily stopped. This type of device is disclosed in, for example, Patent Document 1.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conventional device, the temporary storage area is a table, and the number of products that can be temporarily placed on the table is small. When the over-supplied situation lasts for a long time, it becomes necessary to temporarily stop the first conveyor. And because the number that can be temporarily placed on the table is small, there is a risk that the first conveyor has to be temporarily stopped relatively early.

[0005] For example, when a parallel link robot is used as the robot, the movement range of the robot hand is narrow, and the temporary storage area cannot be widened. As a result, the above problems become more prominent.

[0006] Also, by stacking and temporarily placing products on a table, the number of products that can be temporarily placed can be increased. However, when the products are irregularly shaped (for example, pouches for retort foods, etc.), there is a risk that the stacked and temporarily placed product group may collapse. Also, when the products temporarily placed in the temporary placement area are retrieved by the robot again and replaced on the second conveyor, there is a problem that the products cannot be retrieved reliably because the stacked height and the existing position are not constant.

[0007] The above-described problems are described as independent ones, and the present invention does not necessarily need to solve all of the described problems, and it is sufficient if at least one problem can be solved. Also, with respect to the configuration for solving this problem, there is an intention to obtain rights by separate filing, amendment, etc. alone.

Means for Solving the Problems

[0008] In order to solve the above-described problems, the product transfer device of the present invention includes: (1) a first transfer device that transfers products one by one, a transfer robot that picks up the products, a second transfer device that transfers the products supplied by the transfer robot, and a buffer device disposed within the supply range of the transfer robot. The buffer device includes a stock unit that temporarily stocks the products in a stacked state vertically. The stock unit has a bottom that moves up and down within the space for stocking the products. The products are stacked on the bottom, and are configured to be able to be taken in and out from the upper open part. A guide member for suppressing the horizontal movement of the products is provided around the space. The transfer robot is configured to have a function of supplying the products picked up from the first transfer device to the stock unit, and a function of picking up the products temporarily stocked in the stock unit and supplying them to the second transfer device.

[0009] In this way, for example, when there is a trouble or the like at the second transfer device or downstream thereof and the transfer of the first transfer device is stopped, the transfer robot picks up the product being transferred by the first transfer device and transfers it to the buffer device. As a result, normal operation can be performed without stopping the transfer of the first transfer device. And since the buffer device stacks products vertically, the installation area in plan view can be reduced, and a large number of products can be stocked. Further, since a guide member for suppressing the horizontal movement of the products is provided around the space for stocking the products, a plurality of products can be stacked in the space without collapsing even when stacked sequentially. Furthermore, the buffer device is fixedly installed, and the upper open part for taking in and out the products is at the same position and unchanged. Therefore, the robot transfer device can easily supply and pick up products to and from the buffer device.

[0010] (2) The buffer device may be provided with detection means for detecting the uppermost product above the stock part, and may be configured to control the raising and lowering of the bottom based on the output of the detection means.

[0011] In this way, when the product cannot be detected by the detection means, the bottom can be raised, and when the product is detected by the detection means, the raising of the bottom can be stopped. By such simple control, the height of the uppermost product can be made constant. Also, even in the case of products with a non-uniform thickness such as retort food pouches or other irregular products with varying product heights (thicknesses), the height of the topmost product can be made the same level according to the height (thickness).

[0012] (3) There are a plurality of the stock parts, and the bottoms of the respective stock parts are configured to be independently movable up and down, and the raising and lowering of the respective bottoms may be controlled so that the heights of the products at the uppermost positions are the same.

[0013] By doing so, even if there are variations in the number of products supplied to the plurality of stock parts, it is possible to equalize the heights of the products located at the uppermost positions stocked in those plurality of stock parts. Thereby, when picking up products from the buffer device with the transfer robot, a plurality of products can be picked up simultaneously.

[0014] (4) The second transfer device conveys the products in a state where they are arranged in a line at a predetermined pitch in the front - rear direction. The buffer device has two stock parts arranged at a distance equal to the predetermined pitch. The transfer robot has a function of holding two products with a distance equal to the predetermined pitch therebetween and supplying them to the second transfer device or the buffer device.

[0015] By doing so, the two products held by the transfer robot can be directly supplied to the two stock parts of the buffer device.

[0016] (5) The first transfer device conveys the products in a state where they are arranged in a line at the predetermined pitch in the front - rear direction. The transfer robot has a function of picking up two products arranged in a line at the predetermined pitch and supplying them to the second transfer device or the buffer device.

[0017] By doing so, when the transfer robot picks up two products before and after moving the first transfer device together, it can move the held products to a predetermined position as they are and supply them to the second transfer device or the buffer device.

[0018] (6) The guide member has a holding guide member on one of the surrounding surfaces surrounding the space, which can move forward and backward toward the inside of the space. A cut - in portion is provided at the periphery of the bottom surface facing the one surface, and the tip of the holding guide member is configured to be able to enter the cut - in portion.

[0019] By doing so, even for products smaller than the bottom part, the pressing guide member can be advanced and its tip can be made to enter the cutting portion, so that the tip can be brought closer to the product, suppressing lateral displacement of the product and enabling the products to be stacked in the stock portion without collapse.

[0020] (7) It is preferable to arrange the first conveying device on one side, left or right, along the conveying direction of the second conveying device, arrange the buffer device on the other side, left or right, of the second conveying device, and configure the product to be manually supplied from the open portion above the buffer device.

[0021] By doing so, since the buffer device is present on the front side, the product can be manually supplied to the buffer device. Thereby, for example, by supplying a certain number of products to the buffer device prior to the start of operation, even when there are no products on the first conveying device immediately after the start of operation, the transfer robot can pick up the products stocked in the buffer device and transfer and supply them to the second conveying device. Also, for example, products can be manually replenished to the buffer device during operation.

[0022] (8) It is preferable to arrange the first conveying device on one side, left or right, along the conveying direction of the second conveying device, arrange the buffer device on the other side, left or right, of the second conveying device, and the transfer robot is a parallel link robot.

[0023] By doing so, after supplying a product to the second conveying device, the parallel link robot can perform the same movement only by switching whether to pick up the next product from the first conveying device or the buffer device. In particular, when the pick-up position of the product from the first conveying device and the arrangement position of the stock portion of the buffer device are arranged symmetrically left and right with the conveying direction of the second conveying device as the center, it is only necessary to change the direction of swinging left and right.

[0024] (9) The product is a pouch containing retort food, and the transfer robot preferably has a function of equalizing the thickness deviation of the products supplied to the stock section. By doing so, the thickness of the products stocked in the stock section will not be extremely biased depending on the location, making it less likely for the load to collapse. Also, a large number of products can be neatly stacked inside the stock section, enabling more products to be stocked.

[0025] (10) At the start of operation, the transfer robot preferably has a function of performing a process of supplying a predetermined amount of the products to the stock section. By doing so, for example, even if products are not supplied to the first transfer device side immediately after the start of operation or at a relatively early timing after the start of operation, products can be supplied from the buffer device to the second transfer device.

[0026] (11) When the stock amount of the products stocked in the stock section becomes less than the set amount, the transfer robot preferably has a function of performing a process of supplying a predetermined amount of the products to the stock section. By doing so, when products are not supplied to the first transfer device side during operation, products can be supplied from the buffer device without stopping the second transfer device.

[0027] Also, the configurations shown in (1) to (11) described above can be combined as appropriate, and based on the configuration combined in such a way, it is advisable to combine the components described in the embodiments and the drawings.

Effect of the Invention

[0028] According to the present invention, a large number of products can be stocked in the buffer device with space savings.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2

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Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0030] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the present invention is not construed as being limited thereto, and various changes, modifications, and improvements can be made based on the knowledge of those skilled in the art without departing from the scope of the present invention.

[0031] The figure shows a preferred embodiment of the product transfer device 10 according to the present invention. As shown in the figure, the product transfer device 10 is configured to be incorporated into a part of the packaging system 1. The packaging system 1 used in this embodiment forms an integrated product by stacking a predetermined number (for example, two) of products 2, which are conveyed one after another in a row, vertically, and sequentially supplies the integrated products to the packaging machine main body to manufacture a package. The product 2 is a four-side sealed pouch containing retort food in this embodiment.

[0032] The product transfer device 10 includes a first transfer device 11, a second transfer device 12, a transfer robot 13 that picks up the product 2 on the first transfer device 11 and transfers it to a predetermined position, and a buffer device 14 that temporarily stocks the product 2. The specific configuration of each device will be described later.

[0033] On the upstream side of the first transfer device 11, there is provided a product transfer and supply device 15 that transfers and supplies the products 2 to the first transfer device 11 one by one in a flat-laid posture. This product transfer and supply device 15 includes, in order from the upstream side, a first conveyor 16, a second conveyor 17, a sorting conveyor 18, a curve conveyor 19, a third conveyor 20, and the like. Each conveyor is a belt conveyor having a linear or curved transfer surface.

[0034] The first conveyor 16 conveys the product 2 in a direction orthogonal to the conveying direction of the first transfer device 11. The height of the transfer surface of the first conveyor 16 is located above the transfer surface of the first transfer device 11.

[0035] The second conveyor 17 is arranged on the same straight line as the first conveyor 16 in a plan view. The transfer surface of the second conveyor 17 is arranged in a downward inclined shape, and the upstream loading end is close to the unloading end of the first conveyor 16. Thereby, the product 2 conveyed by the first conveyor 16 is transferred onto the second conveyor 17 and moves while descending along the extension line of the conveying direction of the first conveyor 16.

[0036] The sorting conveyor 18 is arranged on the same straight line as the second conveyor 17 in a plan view. The loading side of the sorting conveyor 18 is close to the unloading end of the second conveyor. The sorting conveyor 18 has an endless belt forming a conveying surface that rotates forward and backward within a predetermined angular range with the upstream end side as a reference, and the downstream end side moves up and down. In the first posture where the downstream side is in the raised position, the conveying surface of the sorting conveyor 18 is located in a horizontal plane, and in the second posture where the downstream side is in the lowered position, the conveying surface is inclined downward. When the sorting conveyor 18 is in the first posture, the unloading end of the sorting conveyor 18 is close to the loading end of the curve conveyor 19. Therefore, the product 2 conveyed on the sorting conveyor 18 directly transfers to the curve conveyor 19. When the sorting conveyor 18 is in the second posture, the unloading end of the sorting conveyor 18 is located at least a predetermined distance below the conveying surface of the curve conveyor 19, and the product 2 conveyed on the sorting conveyor 18 is not transferred to the curve conveyor 19 but is directly discharged from the unloading end. The discharged product 2 falls directly and may be configured to be stocked in a collection box 22 arranged, for example, below the curve conveyor 19.

[0037] Normally, the sorting conveyor 18 takes the first posture and directly supplies the product 2 conveyed from the upstream side to the curve conveyor 19 side. For example, when the product 2 is jammed on the downstream side or the posture of the product 2 is not proper, the sorting conveyor 18 takes the second posture. This prevents the upstream system from stopping and suppresses excessive supply of the product 2 to the downstream side. The presence or absence of jamming of this product 2 may be determined, for example, by providing a sensor at a predetermined position on the conveying line of the product 2 and detecting the abundance and density of the product 2 within a certain section and making a judgment based on that. Also, whether the posture is proper may be determined, for example, based on an image captured by a camera.

[0038] The curve conveyor 19 is a belt conveyor having an arcuate conveying surface and changing the conveying direction by 90 degrees. Thereby, the product 2 conveyed on the curve conveyor 19 is discharged in a direction orthogonal to the conveying direction of the upstream first conveyor 16 or the like.

[0039] The third conveyor 20 is arranged in a straight line with the discharge direction of the curve conveyor 19 in a plan view. The conveying surface of the third conveyor 20 is arranged in a gently downward inclined shape, and the upstream loading end is close to the discharge end of the curve conveyor 19. Thereby, the product 2 discharged from the curve conveyor 19 is transferred onto the third conveyor 20 and moves while descending along the third conveyor 20.

[0040] The belt surface on the discharge end side of the third conveyor 20 is formed in a downward inclined shape. The third conveyor 20 is driven intermittently, and discharges the product 2 from the third conveyor 20 in synchronization with the driving of the first conveying device 11, and supplies the product 2 to the first conveying device 11.

[0041] The first conveying device 11 is a bucket conveyor, and adopts a configuration in which a pair of front brackets 24 and rear brackets 25 arranged at a predetermined interval in the front and rear are connected at a predetermined pitch on the surface of the endless belt 23 constituting the conveying surface. The first conveying device 11 is driven intermittently, and the front bracket 24 temporarily stops at a position separated from the tip of the third conveyor 20 by a predetermined distance. The predetermined distance is made longer than the front-rear length of the product 2 in the conveying posture in the first conveying device 11.

[0042] In accordance with the timing of the temporary stop of the first conveying device 11, the third conveyor 20 is driven to discharge one product 2. Thereby, one product 2 is supplied onto the conveying surface on the rear side in the traveling direction of the front bracket 24, and the product 2 is placed between the front bracket 24 and the rear bracket 25. When one product 2 is supplied, the first conveying device 11 moves by one pitch and repeats the operation of temporarily stopping. Thereby, the products 2 are supplied one by one between the pair of front brackets 24 and rear brackets 25 arranged in the front and rear. Then, the products 2 arranged in the front and rear are intermittently conveyed on the first conveying device 11.

[0043] The second transfer device 12 is arranged parallel to and at a predetermined distance from the first transfer device 11. The second transfer device 12 includes pushing fingers 30 attached to an endless chain at every predetermined pitch, and a plurality (six in this embodiment) of support members 31 arranged on the front side of each pushing finger 30. The surface portion 31a of the support member 31 is formed in a rectangular shape. The support member 31 is linked to the endless chain, and when it is in the section where the endless chain moves horizontally, the surface portion 31a of the support member 31 constitutes a transfer surface and supports the stacked products 2. Also, the surface portions 31a of the plurality of support members 31 that are continuous front and back in front of one pushing finger 30 are continuous front and back and located on the same plane when in the horizontally moving section (see Fig. 5 etc.).

[0044] Also, the arrangement pitch of the pushing fingers 30 of the second transfer device 12 is made equal to the arrangement pitch of the rear brackets 25 in the first transfer device 11. Also, the second transfer device 12 operates continuously at a predetermined speed during normal times, and continuously transfers the products 2 on the second transfer device 12 without temporary stop.

[0045] Thereby, the transfer robot 13 picks up the product 2 on the first transfer device 11 during temporary stop, and the transfer robot 13 reaches above the space between the front and rear pushing fingers 30 of the second transfer device 12, enabling the transfer of the product 2 to the second transfer device 12. At this time, since the second transfer device 12 is operating continuously, the pushing fingers 30 also move forward. Therefore, the transfer robot 13 supplies the two products 2 picked up and held respectively to a predetermined position in the forward direction of travel in accordance with the movement of the pushing fingers 30. And by repeating such a process twice, two products 2 are stacked on the front side in the travel direction of one pushing finger 30.

[0046] The transfer robot 13 of this embodiment uses a parallel link robot and is provided with a robot hand 35 at the lower end of the robot body 33. The robot hand 35 includes an elongated rectangular base plate 36 and a plurality of suction nozzles 38 and the like attached to the lower surface side of the base plate 36. The base plate 36 is connected to the lower surface of the robot body 33 at the central portion in the longitudinal direction. A plurality of suction nozzles 38 are attached four by four on both sides in the longitudinal direction with the attachment site to the robot body 33 as the center. The four suction nozzles 38 on each side are arranged at the vertices of a virtual rectangle and are linked to a suction pump (not shown).

[0047] These four suction nozzles 38 are configured to contact and suction-hold one product 2. Then, the suction nozzles 38 attached to both sides in the longitudinal direction of the base plate 36 suck the products 2 before and after being conveyed by the first conveying device 11 collectively, making it possible to hold them. Then, the transfer robot 13 picks up two products 2 before and after on the first conveying device 11 together, moves laterally while holding the products 2, positions them on the second conveying device 12, and then releases the suction and controls to supply the two products 2 in front of the front and rear pushing fingers 30 of the second conveying device 12 respectively.

[0048] When the pickup of two products 2 by the transfer robot 13 is completed, the first conveying device 11 moves one pitch and then pauses temporarily. Then, when receiving the supply of the product 2 from the third conveyor 20, it moves another pitch and pauses temporarily. As a result, it moves two pitches from the pickup of two products 2 by the transfer robot 13, and two products 2 are positioned at the pickup position of the transfer robot 13 on the first conveying device 11. Also, the product 2 is supplied from the third conveyor 20 to the rear side in the advancing direction of the front bracket 24 waiting on the loading side of the first conveying device 11.

[0049] Also, when the first transfer device 11 moves by two pitches and then temporarily stops as described above, the transfer robot 13 picks up two products 2 as described above and transfers them onto the second transfer device 12. At this time, in the previous transfer process, the two products 2 are respectively supplied onto the support member 31 between the front and rear clamping fingers 30 of the second transfer device 12. Therefore, in this transfer process, the transfer robot 13 transfers and supplies a new product 2 onto the product 2 on the second transfer device 12 that was previously supplied.

[0050] By repeating the above process a predetermined number of times, a predetermined number of products 2 are stacked flat on the support member 31 between the front and rear clamping fingers 30 of the second transfer device 12, forming a stacked product. In this embodiment, the predetermined number is two, and two products 2 are stacked on the support member 31 in front of one clamping finger 30, but the number of stacked products is arbitrary. Also, it is not necessarily limited to stacking multiple products, and a single product 2 may be conveyed by individual clamping fingers 30 without stacking.

[0051] By repeating the above process, a stacked product in which a predetermined number of products 2 are stacked flat is set on the transfer surface of the second transfer device 12. Then, the second transfer device 12 continuously drives to continuously transfer the stacked product. Further, a packaging machine main body is arranged on the downstream side of the second transfer device 12. Therefore, the second transfer device 12 supplies the stacked product toward the packaging machine main body.

[0052] In this embodiment, a buffer device 14 is arranged outside the second transfer device 12, that is, near the side surface on the opposite side that does not face the first transfer device 11. The buffer device 14 includes two stock parts 40 on the left and right, which can be moved independently. Each stock part 40 is configured to stack a plurality of products 2 flat in the vertical direction and to be able to take in and out the products 2 from the upper open part. The specific configuration is as follows.

[0053] An attachment plate 42 is attached to the side surface of the second conveying device 12. This attachment plate 42 is erected so as to extend in a direction parallel to the conveying direction of the second conveying device 12. On the front surface side of the attachment plate 42 (the surface opposite to the attachment surface to the second conveying device 12), two stock portions 40 are arranged left and right (in the direction along the conveying direction of the second conveying device 12). These two stock portions 40 are formed in a substantially left-right symmetric manner.

[0054] On the front surface of the attachment plate 42, side wall portions 43 protruding forward are connected near both side ends in the left-right direction. Also, on the front surface of the attachment plate 42, two first guide plates 44 having a substantially U-shaped cross section extending in the vertical direction are arranged left and right. The first guide plate 44 has a back surface portion 44a that contacts and is fixed to the attachment plate 42, and a first side surface portion 44b and a second side surface portion 44c arranged on the left and right of the back surface portion 44a. The first side surface portion 44b is positioned up to near the front end of the stock portion 40, and the second side surface portion 44c is shorter (for example, less than half) than the first side surface portion 44b. And the back surface portion 44a, the first side surface portion 44b, and the second side surface portion 44c may be formed by bending a single plate.

[0055] As described above, since the two stock portions 40 are formed symmetrically left and right, the first guide plates 44 are also arranged symmetrically. In the present embodiment, the two first guide plates 44 are positioned inside so that the first side surface portions 44b that are long in the front-rear direction face each other, the second side surface portions 44c that are short in the front-rear direction are positioned on the outside of each, and a predetermined distance is provided between the first side surface portions 44b of each other.

[0056] A second guide plate 45 having a substantially L-shaped cross section is arranged in front of the second side surface portion 44c with a predetermined distance therebetween. This second guide plate 45 has a side surface portion 45a located in the same plane as the second side surface portion 44c and a front surface portion 45b bent outward from the front end of the side surface portion 45a. And since the first guide plate 44 and the second guide plate 45 are arranged with a predetermined distance therebetween as described above, an opening 47 having a predetermined width is formed between the side surface portion 45a and the second side surface portion 44c. This opening 47 opens to both the inside and outside of the stock space having a rectangular cross section partitioned by the first guide plate 44 and the second guide plate 45 and in the vertical direction.

[0057] This second guide plate 45 is connected to each side wall portion 43 via an L-shaped first connecting member 46 and is fixed at a predetermined position. That is, the first connecting member 46 includes a first portion 46a connected to the side wall portion 43 and a second portion 46b connected so as to extend in a direction orthogonal to the first portion 46a. Both the first portion 46a and the second portion 46b are composed of flat plates. Then, the front surface portion 45b of the second guide plate 45 is fixed to the second portion 46b with bolts or the like. Thereby, the first connecting member 46 supports the second guide plate 45 in a cantilever manner.

[0058] Also, the stock space formed by the first guide plate 44 and the second guide plate 45 is open on the front side, and two holding guide members 48 extending in the vertical direction are arranged at the open portion. The holding guide member 48 has a substantially U-shaped plane and includes an elongated rectangular base portion 48a extending vertically and a pair of guide portions 48b extending rearward from both left and right sides of the base portion 48a.

[0059] The holding guide member 48 arranged on the second guide plate 45 side is linked to the first connecting member 46 via an attachment member 50. The attachment member 50 includes a flat plate portion 51 attached to the first connecting member 46, a connecting rod 52 inserted into a through hole provided in the flat plate portion 51 and arranged to be movable in the front-rear direction, a stopper member 53 attached to the front and rear end sides of the connecting rod 52, and a fixing screw 55 for restraining the movement of the connecting rod 52. The tip of the connecting rod 52 is linked to the base portion 48a of the holding guide member 48, and the holding guide member 48 moves forward and backward integrally with the movement of the connecting rod 52.

[0060] By operating the lever 55a of the fixing screw 55, the fixing screw 55 is tightened and its tip is pressed against the connecting rod 52 to prevent movement, or the fixing screw 55 is loosened to release the fixing of the connecting rod 52. By loosening the fixing screw 55 in this way, the connecting rod 52 and thus the holding guide member 48 can be moved forward and backward. Then, the position of the holding guide member 48 is adjusted so that the distance between the tip position of the guide portion 48b of the holding guide member 48 and the back surface portion 44a of the first guide plate 44 becomes a distance corresponding to the length of the product 2, and the fixing screw 55 is tightened in the adjusted state to fix the position of the holding guide member 48.

[0061] Furthermore, in the present embodiment, the flat plate portion 51 of the attachment member 50 is detachably fixed to the second portion 46b of the first connecting member 46 via a predetermined locking mechanism 56. That is, the locking mechanism 56 is locked or released by operating a handle portion 56a that can rotate forward and backward. When the handle portion 56a is in the horizontal posture shown in the figure, the locking portion linked to the back side of the handle portion 56a is caught by the stopper portion provided on the second portion 46b side, and the forward movement is suppressed and fixed. On the other hand, when the handle portion 56a is rotated 90 degrees from there to take a vertical posture, the locking portion can be pulled out to the front side without interfering with the stopper portion, and the attachment member 50 can be removed.

[0062] On the other hand, a second connecting member 57 having a substantially T-shaped plane is disposed between the left and right stock portions 40. The second connecting member 57 has its rear end side connected to the mounting plate 42, and its front end protrudes a predetermined distance forward from the front end of the first side surface portion 44b of the first guide plate 44. The front end portion 57a of the second connecting member 57 having a substantially T-shaped plane is composed of a flat plate and is configured to extend in a direction parallel to the mounting plate 42. And the front end portion 57a is located on the same plane as the second portion 46b of the first connecting member 46 and has the same height. Thereby, the second portions 46b of the first connecting members 46 arranged on the left and right and the front end portion 57a of the second connecting member 57 are located on the same straight line within the same plane.

[0063] And the pressing guide member 48 disposed on the side of the first side surface portion 44b of the first guide plate 44 is linked to the second connecting member 57 via the mounting member 50. That is, the flat plate portions 51 of the mounting member 50 are detachably attached to the left and right sides of the front end portion 57a of the second connecting member 57 using the locking mechanism 56. And the pressing guide member 48 is connected to the tip of the connecting rod 52 that is movably inserted into the through hole formed in the thickness direction of the flat plate portion 51. Further, the forward and backward movement range of the connecting rod 52 is restricted by the stopper member 53 attached to the connecting rod 52, and the connecting rod 52 is prevented from detaching from the flat plate portion 51. And the connecting rod 52 is allowed to move or fixed by tightening or loosening the fixing screw 55.

[0064] The stock space partitioned by the first guide plate 44 and the second guide plate 45 is open at the top and bottom, and it is possible to take in and out the product 2 into and from the stock space from the upper open part. On the other hand, the lower open part of the stock space is provided with a bottom plate 60 that can be moved up and down to close the lower part of the stock space and prevent the product 2 supplied to the stock space from falling from the lower open part of the stock space.

[0065] The bottom plate 60 is provided with a cutout portion 60a at a predetermined position on its front side. This cutout portion 60a is provided at a position facing the pair of guide portions 48b of the pressing guide member 48, and is configured such that the tip side of the guide portion 48b of the pressing guide member 48 that moves forward toward the back side can enter. That is, the pressing guide member 48 moves back and forth and adjusts according to the size of the product 2 stocked in the stock space. When the size of the product 2 is shorter than the front-back length of the bottom plate 60, the tip side of the guide portion 48b of the pressing guide member 48 enters the cutout portion 60a, and the interval between the pressing guide member 48 and the back surface portion 44a of the first guide plate 44 is made appropriate to prevent the product 2 from being displaced in the stock space.

[0066] A drive mechanism 62 for raising and lowering the bottom plate 60 is provided in the space between the side wall portion 43 and the second guide plate 45. The drive mechanism 62 includes a base 63 arranged to extend in the vertical direction, a slider 64 attached so as to be able to move linearly back and forth along the base 63, a drive source 65 for moving the slider 64 back and forth, and a third connecting member 68 for connecting the bottom plate 60 to the slider 64. The drive source 65 is a motor mounted in a box. The output shaft of the motor faces upward and is connected to a ball screw arranged in the longitudinal direction inside the base 63. The output shaft itself may also be a ball screw. A linear guide is provided in the base 63, which is linked to the ball screw and moves along the axial direction in accordance with the forward and reverse rotation of the ball screw, and the linear guide is connected to the slider 64. As a result, when the slider 64 rises and falls by receiving power from the drive source 65 (built-in motor), the bottom plate 60 rises and falls together with the slider 64. The products 2 are stored in a flat stacked state in each of the two stock sections 40, and the height position of the topmost product 2 is displaced by raising and lowering the bottom plate 60.

[0067] Furthermore, a sensor 70 is disposed at a predetermined position above the first guide plate 44 and the second guide plate 45. This sensor 70 uses, for example, a photoelectric sensor and detects whether or not the product 2 is present at the predetermined position. In this embodiment, it detects whether or not the product 2 is present in the upper open portion of the stock space formed by the first guide plate 44 and the second guide plate 45. The control unit of the drive source 65 controls the rotation of the motor based on the sensor output of the sensor 70, and raises the bottom plate 60 when the sensor 70 can no longer detect the product 2.

[0068] In addition, the transfer robot 13 of this embodiment has a movable range of the robot hand 35 that includes the first conveying device 11, the second conveying device 12, and the buffer device 14. As a result, as described above, the two front and rear products 2 on the first conveying device 11 can be picked up at once by the robot hand 35, and the two picked up products 2 can be transferred and supplied to the front sides of the two front and rear pushing fingers 30 of the second conveying device 12, respectively.

[0069] Furthermore, the arrangement interval between the two stock units 40 is made equal to the conveyance pitch in the first conveyance device 11 and the second conveyance device 12. As a result, the transfer robot 13 can transfer and supply the two products 2 picked up as described above to the two stock units 40 of the buffer device 14. That is, when the two products 2 before and after temporarily stopping and waiting on the first conveyance device 11 are adsorbed and held by the robot hand 35, when the two products 2 reach a predetermined position above the buffer device 14 by the transfer robot 13, they face the open parts above the respective two stock units 40. Therefore, when the robot hand 35 moves downward as it is, the two products are positioned in the stock spaces of the respective stock units 40, and when suction is released there, the product 2 is transferred to the uppermost part of the stock unit 40.

[0070] Also, with the supply of the product 2 to this stock space, the control unit of the drive source 65 controls the rotation of the motor and lowers the bottom plate 60 by a predetermined distance. That is, as described above, when the transfer robot 13 supplies the product 2 to the stock space of each stock unit 40, the control unit of the drive source 65 controls the motor so that the bottom plate 60 descends by the height of the product 2.

[0071] Furthermore, the transfer robot 13 positions the empty robot hand 35 above the buffer device 14, picks up the product 2 exposed at the uppermost part stocked in the two stock units 40 respectively, and transfers and supplies it to a desired position before and after the second conveyance device 12 to replenish the product 2 to the second conveyance device 12.

[0072] With the picking up of Product 2 from this stock space, the control unit of the drive source 65 controls the rotation of the motor to raise the bottom plate 60 by the height of Product 2. The upward control by the height of this Product 2 may, for example, be such that the moving distance of the bottom plate 60 stops after moving a distance corresponding to the height of Product 2, but it is better to use the control to stop when Product 2 is detected by the sensor 70. By doing so, not only can the control be easily performed, but it can also cope with the variation in the thickness of each individual Product 2. That is, in this embodiment, since Product 2 is a pouch packed with retort food, the surface is not necessarily flat and flat, and the thickness of one Product 2 varies for each part depending on the position of the contents in the pouch. For example, if the contents are biased to one side, that side becomes thick and the opposite side becomes relatively thin. Therefore, since the thickness of Product 2 is not constant, by controlling the rotation of the drive motor based on the detection result of Product 2 using the sensor 70, the position of the uppermost Product 2 becomes constant regardless of the thickness of each individual Product 2. Furthermore, by independently controlling the two bottom plates 60, the heights of the uppermost Product 2 in the two stock parts 40 become the same.

[0073] Furthermore, when Product 2 is a pouch packed with retort food as in this embodiment, since the contents contain liquid, the attitude such as the surface shape and the unevenness may change each time they are stacked, and the thickness may also change. Even when the thickness of Product 2 changes within the stock part 40 like this, by controlling the position of the bottom plate 60 based on the detection result of the position of the uppermost Product 2 by the sensor 70, the position of the uppermost Product 2 can be placed at an appropriate position.

[0074] When the shape of Product 2 is such that the thickness is uneven and the surface is inclined, the Product 2 placed thereon tries to move along the inclined surface, but there are the first guide plate 44, the second guide plate 45 or the holding guide member 48 in the moving direction, and the displacement is suppressed. Thereby, Product 2 can be stacked in the stock space without lateral displacement. In this embodiment, for example, 60 or more products can be stocked in one stock part 40.

[0075] Also, for example, sensors 70 provided at the open part above the stock unit 40 may be arranged in two upper and lower stages, and the detection area of the lower sensor 70 may be configured to detect the uppermost product 2 stocked in the stock unit 40, and the detection area of the upper sensor 70 may be configured not to detect the uppermost product 2. In this way, when neither of the two upper and lower sensors 70 detects the product 2, the control unit of the drive source 65 operates the motor to raise the bottom plate 60. When both of the two upper and lower sensors 70 detect the product 2, the control unit of the drive source 65 operates the motor to lower the bottom plate 60. And when the lower sensor 70 detects the product 2 and the upper sensor 70 does not detect the product 2, the control unit of the drive source 65 stops the motor to stop the bottom plate 60.

[0076] As a result, when the product 2 is picked up from the buffer device 14, the lower sensor 70 no longer detects the product, so after raising the bottom plate 60 until the product 2 is detected by the lower sensor 70, the motor is stopped. Also, when the product 2 is supplied to the buffer device 14, the upper sensor 70 also detects the product, so after lowering the bottom plate 60 until the product 2 is no longer detected by the upper sensor 70, the motor is stopped. In this way, by controlling the operation of the motor based on the detection output of the sensor 70, the uppermost position of the stocked product 2 can be placed at an appropriate position.

[0077] Also, the replenishment of the product 2 to the stock unit 40 is not limited to using the transfer robot 13 as described above, and for example, it may be possible to perform manual replenishment. For example, in the case of the configuration in which the two sensors 70 are arranged above and below as described above, when a product 2 is manually placed on the uppermost product 2 stocked in the stock unit 40, the upper sensor 70 detects the product 2, so the bottom plate 60 is moved downward until it is no longer detected. In this way, manual replenishment to the stock unit 40 can be performed with the same control as the supply by the transfer robot 13.

[0078] Also, in the case of manual replenishment, the bottom plate 60 is lowered to a predetermined position, for example, the lowermost position. Thereby, a plurality of products held by a person can be supplied into the stock section 40 at once. Then, when an instruction to end the operation or start / resume the operation is given, the bottom plate 60 is raised until the lower sensor 70 detects the product 2, and when the sensor 70 detects the product 2, the movement of the bottom plate 60 may be stopped.

[0079] Also, when controlling to lower the bottom plate 60 to a predetermined position in this way, the sensor 70 may detect only the lower side or the same height.

[0080] By adopting the above-described configuration, the product transfer device 10 of the present embodiment can sequentially supply the product 2 to the second transfer device 12 without stopping the normal operation of the first transfer device 11 and the second transfer device 12. That is, if the packaging machine main body on the downstream side of the second transfer device 12 temporarily stops due to a trouble or the like, the second transfer device 12 is temporarily stopped because the product 2 cannot be fed into the packaging machine main body. On the other hand, the product 2 sequentially flows from the upstream side to the first transfer device 11. At this time, the transfer robot 13 picks up the product 2 on the first transfer device 11 and transfers it to the two stock sections 40 of the buffer device 14 respectively. Thereby, the occurrence of a situation where the sorting conveyor 18 is set to the second posture and discharged to the collection box 22 is suppressed as much as possible.

[0081] In addition, when the time for temporarily stopping the second transfer device 12 becomes long and exceeds the storage allowable capacity of the buffer device 14, the sorting conveyor 18 is set to the second posture and the product 2 is supplied to the collection box 22. Whether or not the storage allowable capacity is exceeded may be determined, for example, by whether or not the position of the bottom plate 60 is below a predetermined lower position.

[0082] On one hand, if product 2 does not flow from the upstream side of the product transfer and supply device 15, or even if it flows, the posture of product 2 moving on the first conveyor 16 or the second conveyor 17 is poor, there will be a shortage of product 2 supplied from the product transfer and supply device 15 to the first transfer device 11. Since the first transfer device 11 moves one pitch when receiving one product 2, it waits until product 2 is supplied from the product transfer and supply device 15. Then, until two products 2 are aligned at the pickup position of the first transfer device 11, the transfer robot 13 does not go to pick up product 2 on the side of the first transfer device 11. In such a case, the transfer robot 13 simultaneously picks up each of the products 2 stocked in the two stock parts 40 of the buffer device 14 and supplies them to the second transfer device 12. As a result, the second transfer device 12 and thus the packaging machine body installed on the downstream side can continue normal operation without stopping temporarily or creating empty bags.

[0083] Furthermore, in actual operation, at the start of operation, the transfer robot 13 may store the product 2 conveyed from the first transfer device 11 in the buffer device 14, and when a certain number has been stored, start the transfer to the second transfer device 12. By doing so, even during a day's operation, product 2 can be continuously supplied without stopping the packaging machine even if product 2 cannot be supplied, and the production efficiency can be prevented from decreasing. That is, when starting the operation with the buffer device 14 in an empty state, if the supply of product 2 from the product transfer and supply device 15 to the first transfer device 11 stops first, a situation will occur where replenishment from the buffer device 14 to the second transfer device 12 cannot be performed. However, by setting a predetermined number of products 2 in the buffer device 14 in advance, the occurrence of such a situation can be suppressed as much as possible. In particular, in this embodiment, since a large number of products 2 can be stacked vertically and held in the buffer device 14, the products 2 corresponding to the number required for a day's operation can be stably stocked in the buffer device 14.

[0084] Furthermore, since the product 2 stocked from the upper open parts of the two stock parts 40 of the buffer device 14 is taken out, the take-out position is fixed. When picking up a product placed flat on the table in the temporary storage area as in Patent Document 1, the pick-up position varies, so the transfer robot 13 needs to confirm the position of the product in the temporary storage area. However, in this embodiment, since the pick-up position is fixed, there is no need to confirm the position, and it can be picked up with high-speed and simple control.

[0085] Also, in the above-described embodiment, the second transfer device 12 is continuously operated. However, the second transfer device 12 may be intermittently driven, and the pressing fingers 30 during the temporary stop may be controlled to face the rear bracket 25 of the first transfer device 11. In this way, when the transfer robot 13 picks up the product 2 on the first transfer device 11 during the temporary stop and the transfer robot 13 moves the product 2 by a predetermined distance in the lateral direction orthogonal to the transfer direction, it reaches above the pressing fingers 30 before and after the second transfer device 12 during the temporary stop, and the transfer of the product 2 to the second transfer device 12 becomes possible.

[0086] Also, in the above-described embodiment, the first transfer device 11 conveys the products 2 aligned front and back. However, the present invention is not limited to this, and for example, it may be randomly conveyed like the device disclosed in Patent Document 1. In this case, the transfer robot holds one product, picks up the products one by one from the first transfer device, and supplies the products to the second transfer device or the buffer device. Also, the robot hand may be able to hold two products as in this embodiment, pick up the products one by one from the first transfer device, and simultaneously supply the two products adsorbed and held by two pick-up operations to the second transfer device or the buffer device. In this case, the robot hand may be configured such that each adsorption means for adsorbing and holding each product can move up and down.

[0087] Also, although the product 2 was a pouch for retort foods in the above-described embodiment, the present invention is not limited to this, and it may be something with a non-flat surface or an irregular shape. Furthermore, it may be a packaging body with a flat surface, a flat packaging body sealed on four sides, or even a box-shaped one. In the case of products with different thicknesses of individual products, such as those with non-flat or irregular surfaces, it is more suitable because the position of the bottom plate 60 can be adjusted according to the thickness.

[0088] Also, there may be only one stock part 40. In this case, the transfer robot 13 may pick up one product 2.

[0089] Also, it is preferable to make the storage allowable capacity of the buffer device 14 adjustable according to the product 2. By doing so, the product 2 can be stably transferred in and out of the stock part 40 without collapsing.

[0090] Also, the transfer robot 13 preferably has a function of leveling the product (for example, a pouch for retort foods), that is, a function in which the control unit of the transfer robot 13 controls to perform the leveling operation. This leveling operation is controlled, for example, such that when the transfer robot 13 picks up the product 2 and then transfers it to the stock part 40, the suction nozzle 38 of the robot hand whose suction has been released is pressed in a state of being in contact with the surface of the product 2. As a result, the uppermost product 2 supplied to the stock part 40 due to the release of suction can be pushed downward by the suction nozzle 38, and the retort food stored inside the pouch can be leveled so that the thickness deviation is reduced. Also, in the present embodiment, the suction nozzle 38 has a bellows-shaped main body, and the bellows-shaped part is configured to be stretchable and deformable in the vertical direction. Thereby, for example, when the pressing force on the product 2 is large, the bellows-shaped part is compressed and deformed, and the occurrence of a situation where an excessive force is applied to the product 2 and the contents are damaged can be suppressed as much as possible.

[0091] Furthermore, the second transfer device may be, for example, a packaging device such as a deep drawing packaging machine or a boxing device. For example, in the case of a deep drawing packaging machine, it is advisable to supply the product into the recess deep-drawn by the transfer robot 13. In this case, the second transfer device corresponds to the film transfer device which is one of the components of the deep drawing packaging machine. Also, in the case of a boxing device, the second transfer device is, for example, a transfer device for transporting boxes, and the transfer robot 13 may supply the product to, for example, a box moving on the transfer device.

[0092] Also, in the above-described embodiment, at the start of operation, the transfer robot 13 supplies a predetermined amount of the product 2 to the stock section 40 of the buffer device 14. However, the present invention is not limited to this. Instead of or in addition to the function of stocking a predetermined amount of the product in the buffer device at the start of the above operation, when the stock amount of the product stocked in the stock section 40 becomes less than the set amount, the transfer robot 13 may be provided with a function of performing a process of supplying a predetermined amount of the product 2 to the stock section 40.

[0093] The determination as to whether it has become less than the set amount may be made, for example, based on the position of the bottom plate 60. The position of the bottom plate 60 may be based on, for example, information recognized by the drive mechanism 62 (control section of the drive source 65), or a sensor for detecting the bottom plate 60 may be provided in the same manner as the sensor 70, and it may be obtained based on the output of the sensor.

[0094] The process of supplying to the stock section 40 may be such that a predetermined amount of the product 2 is supplied. And the predetermined amount may be an amount such that the stock section 40 does not become full. By making it not become full, when the downstream process stops and the second transfer device 12 temporarily stops, the product 2 conveyed to the first transfer device 11 can be supplied to and stocked in the buffer device 14.

[0095] Although the embodiments of various aspects of the present invention have been described above, it should be noted that these embodiments and descriptions are not for the purpose of limiting the scope of the present invention, but are provided to assist in the understanding of the present invention. The scope of the present invention is not limited to the configurations and manufacturing methods explicitly described in the specification, but also includes combinations of various aspects of the present invention disclosed in this specification. Among the present invention, the configuration for which a patent is sought is specified in the appended claims, but it should also be noted for the record that even a configuration not currently specified in the claims may potentially be claimed in the future for the configurations disclosed in this specification.

Explanation of Reference Numerals

[0096] 1 : Packaging system 2 : Product 10 : Product transfer device 11 : First conveying device 12 : Second conveying device 13 : Transfer robot 14 : Buffer device 23 : Endless belt 24 : Front bracket 25 : Rear bracket 30 : Pressing finger 31 : Support member 33 : Robot body 35 : Robot hand 36 : Base plate 38 : Suction nozzle 40 : Stock part 44 : First guide plate 45 : Second guide plate 48 : Holding guide member 60 : Bottom plate 60a : Notch part 70 : Sensor

Claims

1. A first transfer device for transferring products one by one, A transfer robot for picking up the products, A second transfer device for transferring the products supplied by the transfer robot, and a buffer device arranged within the supply range of the transfer robot, wherein the buffer device includes a stock part for temporarily stocking the products stacked one on top of the other vertically, the stock part has a bottom that moves up and down within the space for stocking the products, the products are stacked on the bottom, and the products can be taken in and out from the upper open part, and a guide member for suppressing the horizontal movement of the products is provided around the space, the transfer robot is configured as a product transfer device having a function of supplying the products picked up from the first transfer device to the stock part and a function of picking up the products temporarily stocked in the stock part and supplying them to the second transfer device.

2. The buffer device is provided, above the stock part, with detection means for detecting the uppermost product, and the product transfer device according to claim 1, wherein the raising and lowering of the bottom is controlled based on the output of the detection means.

3. The stock part has a plurality of them, the bottoms of the respective stock parts are configured to be independently movable up and down, and the product transfer device according to claim 2, wherein the raising and lowering of the respective bottoms is controlled so that the heights of the uppermost products are the same.

4. The second transfer device transfers the products in a state where they are arranged side by side at a predetermined pitch in the front - rear direction, the buffer device has two stock parts arranged at a distance equal to the predetermined pitch, The transfer robot described in claim 2 of the product transfer device, which holds two of the products at a distance equal to the predetermined pitch and supplies them to the second transfer device or the buffer device.

5. The first transfer device conveys the products while arranging them in a line at the predetermined pitch in the front - rear direction. The transfer robot described in claim 4 of the product transfer device, which picks up two of the products arranged at the predetermined pitch and supplies them to the second transfer device or the buffer device.

6. The guide member has a holding guide member that can move forward and backward toward the inside of the space on one of the surrounding surfaces that encloses the space. A cut - out portion is provided at the periphery of the bottom surface facing the one surface. The product transfer device according to any one of claims 1 to 5, wherein the tip of the holding guide member is configured to be able to enter the cut - out portion.

7. The first transfer device is arranged on one of the left and right sides along the transfer direction of the second transfer device. The buffer device is arranged on the other of the left and right sides of the second transfer device. The product can be supplied manually from the open part above the buffer device. The product transfer device according to any one of claims 1 to 5.

8. The first transfer device is arranged on one of the left and right sides along the transfer direction of the second transfer device. The buffer device is arranged on the other of the left and right sides of the second transfer device. The transfer robot is a parallel - link robot, and the product transfer device according to any one of claims 1 to 5.

9. The product is a pouch containing retort food. The transfer robot described in claim 1 to 5 of the product transfer device, which has a function of equalizing the thickness deviation of the products supplied to the stock part.

10. The product transfer device according to any one of claims 1 to 5, wherein, at the start of operation, the transfer robot has a function of performing a process of supplying a predetermined amount of the product to the stock unit.

11. The product transfer device according to any one of claims 1 to 5, wherein, when the stock amount of the product stocked in the stock unit becomes less than a set amount, the transfer robot has a function of performing a process of supplying a predetermined amount of the product to the stock unit.

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