Transfer system and transfer method

Abstract

To prevent a decrease in throughput while reducing the manufacturing cost of a transfer system for transferring food.SOLUTION: A transfer system includes: a conveying mechanism 20 that conveys food X to a predetermined picking position P2; stopping means 30 for stopping the food X at the picking position P2; and a transfer robot 40 that picks up the food X stopped at the picking position P2 and transfers it to a case C conveyed to a predetermined transfer position P1. The conveying mechanism 20 has branching means 22 for sequentially receiving a plurality of the foods X and sending them out while branching them into a plurality of rows.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a transfer system and a transfer method for transferring an article, which is a container containing food such as sliced ​​meat wrapped in plastic wrap or the like, into a case such as a container. [Background technology]

[0002] As an example of this type of transfer system, as shown in Patent Document 1, there is one in which a transfer robot sequentially picks up articles transported by a transport conveyor and transfers them into a container.

[0003] This transfer robot, known as a parallel link robot, is capable of high-speed and precise operation, and can pick up items moving on a transport conveyor without stopping them, quickly transferring multiple items into a container.

[0004] However, the parallel link robots mentioned above are expensive, which increases the manufacturing costs of the system. However, simply replacing them with cheaper transfer robots would require the robot to stop when picking up an item, resulting in a decrease in processing capacity. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-133788 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, an object of the present invention is to reduce the manufacturing cost of a transfer system for transferring food products while also preventing a decrease in processing capacity. [Means for solving the problem]

[0007] In other words, the transfer system of the present invention comprises a conveying mechanism that transports food to a designated picking position, a stopping means that stops the food at the picking position, and a transfer robot that picks up the food that has stopped at the picking position and transfers it to a case that has been transported to the designated transfer position, and is characterized in that the conveying mechanism has a branching means that sequentially receives multiple foods and sends the foods out while branching them into multiple rows.

[0008] According to the transfer system configured in this manner, the transfer robot can be made inexpensive because it picks up food that is stopped at the picking position, thereby reducing the manufacturing costs of the system. Furthermore, since the conveying mechanism has a branching means for branching the food into multiple rows, if multiple food items from each row are transferred to a case at once, the processing capacity can be improved. Furthermore, even when transferring food one by one from each row, the food in the second row can be made to wait in the picking position when the food in the first row has been transferred. This allows the transfer robot to move as fast as possible and still keep up with the food transport, again improving processing capacity. In this way, the transfer system described above makes it possible to reduce manufacturing costs while also preventing a decrease in processing capacity.

[0009] In order to improve processing capacity, it is desirable to increase the food conveying speed, but there is a concern that the food may tilt or become misaligned when it is stopped. This may make it impossible to transfer the food to the desired position in the case, and multiple food items may not be aligned correctly. Therefore, it is preferable that the conveying mechanism decelerates the food before it reaches the picking position. With this configuration, the food can be stopped in a stable position without shifting, and the food can be aligned correctly.

[0010] A specific embodiment for slowing down the food before the picking position is one in which the conveying mechanism has a first conveying conveyor located downstream of the branching means and a second conveying conveyor located downstream of the first conveying conveyor for conveying the food to the picking position, and the conveying speed of the second conveying conveyor is slower than the conveying speed of the first conveying conveyor.

[0011] In order to further improve the processing capacity, it is preferable to provide a plurality of the transfer robots.

[0012] It is preferable that the movement trajectories of the food products by the plurality of transfer robots are set so as not to intersect with each other. This prevents transfer robots from crossing paths when moving between the picking position and the case.

[0013] In a configuration in which a first transfer robot and a second transfer robot are positioned at opposing positions across the case, an embodiment for reliably avoiding the transfer robots from overlapping each other can be such that the first transfer robot transfers the food from one side of the position where the case is sandwiched to a loading position set on one side of the case, but does not transfer the food to a loading position set on the other side of the case, and the second transfer robot transfers the food from the other side of the position where the case is sandwiched to a loading position set on the other side of the case, but does not transfer the food to a loading position set on one side of the case.

[0014] Now, consider a case where food products are diverted into, for example, two rows using a diverting means. In this case, the diverting means may specifically operate by moving between three locations: a receiving position where food products are received from upstream, a first delivery position where food products are delivered to the first row, and a second delivery position where food products are delivered to the second row. However, in this case, the diverting means must temporarily stop at each of the three locations, and the number of such temporary stops slows down the conveying speed. Therefore, it is preferable that the branching means moves between a first position where the food is delivered to a first row and a second position where the food is delivered to a second row, and is configured to receive the food to be delivered to the second row next at the first position, and to receive the food to be delivered to the first row next at the second position. In this case, only two temporary stops at the first position and the second position are required, and the transport speed can be improved compared to the above-described operation.

[0015] In order to enable stable picking of food products, it is preferable that the transfer robot grips the food products by suction.

[0016] In addition, the transfer method of the present invention includes a transport step of transporting food to a predetermined picking position, a stopping step of stopping the food at the picking position, and a transfer step of picking up the food stopped at the picking position and transferring it to a case that has been transported to a predetermined transfer position, and is characterized in that in the transport step, multiple foods are received sequentially and the foods are sent out while branching into multiple rows. According to this transfer method, it is possible to achieve the same effects as the transfer system described above. [Effects of the Invention]

[0017] According to the present invention configured in this manner, it is possible to reduce the manufacturing cost of the transfer system for transferring food products while also preventing a decrease in processing capacity. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram showing the overall configuration of a transfer system according to an embodiment of the present invention; [Figure 2] FIG. 3 is a schematic diagram showing the configuration of a de-stage means of the embodiment; [Figure 3] 5A and 5B are schematic diagrams showing the operation of the disassembly means of the embodiment; [Figure 4] 5A and 5B are schematic diagrams showing the operation of the branching means of the embodiment; [Figure 5] FIG. 2 is a schematic diagram showing the configuration of a branching unit of the embodiment; [Figure 6] 3A and 3B are schematic diagrams showing the configurations of a separating means and a stopping means of the embodiment; [Figure 7] 5A and 5B are schematic diagrams for explaining an example of the operation of the transfer robot of the embodiment. [Figure 8] 5A and 5B are schematic diagrams for explaining an example of the operation of the transfer robot of the embodiment. [Figure 9] 10 is a flowchart for explaining the operation of the transfer system of the embodiment. [Figure 10] FIG. 10 is a schematic diagram showing the configuration of a separation unit according to another embodiment. [Figure 11] Schematic diagrams for explaining an article according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, an embodiment of a transfer system according to the present invention will be described with reference to the drawings.

[0020] (Overview of the transfer system) 1, the transfer system 100 of this embodiment transfers an item X, which is a container containing food such as sliced ​​meat wrapped in a tight-fitting packaging material such as plastic wrap, to a case C such as a container. However, the item X to be transferred may also be unpackaged fruit and vegetables such as peaches and pineapples.

[0021] The food contained in the container is not limited to sliced ​​meat, but may be block meat or minced meat, and may not be limited to meat, but may include seafood, vegetables, fruits, processed foods, frozen foods, bread, sweets, or prepared foods.

[0022] Furthermore, the transfer system 100 of this embodiment is described as handling the same type of case C with predetermined length, width, and height dimensions, but the transfer system 100 of the present invention may also be capable of handling multiple types of case C with different dimensions.

[0023] Specifically, as shown in FIG. 1, this transfer system 100 comprises a case loading mechanism 10 that transports empty cases C, an item transport mechanism 20 that transports items X, a stopping means 30 that stops items X, a transfer robot 40 that picks up stopped items X and transfers them to cases C, a case unloading mechanism 50 that unloads cases C after items X have been transferred, and a control device 60 that controls the operation of these components.

[0024] (Case loading mechanism) The case loading mechanism 10 sequentially receives empty cases C and transports them to a predetermined transfer position P1, and specifically has multiple conveyors arranged from the upstream side to the downstream side of the case C transport path.

[0025] The case loading mechanism 10 of this embodiment is configured to sequentially receive a group of cases Cx from a worker, which is made up of cases C stacked in multiple tiers, for example five tiers, and transport the group of cases Cx to the transfer position P1 while sequentially disassembling (separating) the group of cases Cx into individual cases C using the disassembling means 11.

[0026] (Means of de-staging) As shown in Figures 2 and 3, the separating means 11 separates the bottom case C from the other cases C among multiple stacked cases C, and in the meantime sends only the bottom case C downstream.

[0027] Specifically, this disassembly means 11 hooks and lifts the flange portion of the second-lowest case C in the group of cases Cx whose transport is restricted by the stopper 111 at the restriction position Ax, thereby pulling the other cases C upward from the bottom case C (Figures 3A and B).

[0028] In this state, for example, the cylinder S is retracted to move the stopper 111 from the restricting position Ax to the non-restricting position Ay, thereby sending out only the bottom case C downstream (FIG. 3C).Then, the cylinder S is extended to move the stopper 111 again from the non-restricting position Ay to the restricting position Ax, and the group of cases Cx that was being lifted is placed on the conveyor (FIG. 3D).

[0029] Thereafter, by repeating these operations, the stacked multiple tiers of cases C are separated into individual cases C and sent downstream. After one group of cases Cx has been separated, the next group of cases Cx is received and the above operations are repeated again. The specific embodiment of the destacking means 11 is not limited to this, and may be modified as appropriate.

[0030] 1, the case carry-in mechanism 10 of this embodiment has a first transport direction change means 12 that changes the transport direction of the case C.

[0031] Specifically, the first conveying direction changing means 12 changes by 90 degrees the conveying direction of the cases C sent out from the destacking means 11. An example of the first conveying direction changing means 12 is a so-called orthogonal conveyor, which specifically has a plurality of first rollers that convey the articles X in a first direction, and a plurality of second rollers that are arranged so as to be able to appear and disappear between adjacent first rollers and that convey the articles X in a second direction that intersects with the first direction.

[0032] Furthermore, in this embodiment, a second conveying direction change means 70 is provided at the transfer position P1 to change the conveying direction of the case C. The second conveying direction change means 70 here is called an orthogonal conveyor, just like the above-mentioned first conveying direction change means 12. This second conveying direction change means 70 constitutes the case loading mechanism 10, and the case C finally reaches the transfer position P1 when the second conveying direction change means 70 is driven.

[0033] However, the specific configurations of the first conveying direction changing means 12 and the second conveying direction changing means 70 are not limited to those described above and may be changed as appropriate, and if there is no need to change the conveying direction of the case C, there is no need to provide one or both of the first conveying direction changing means 12 and the second conveying direction changing means 70.

[0034] (item transport mechanism) As shown in FIG. 1, the article transport mechanism 20 sequentially receives a plurality of articles X from a worker and transports the articles X to a predetermined picking position P2.

[0035] The article transport mechanism 20 has a plurality of conveyors provided from the upstream side to the downstream side of the transport path of the article X, and specifically, belt conveyors and roller conveyors are provided.

[0036] More specifically, the worker carries a case C, such as a container, that contains multiple items X, next to the upstream conveyor 21, and sequentially places the items X inside the case C on the upstream conveyor 21. When the case C is empty, the worker carries another case C that contains multiple items X, and similarly places the items X inside the case C on the upstream conveyor 21, and repeats these operations thereafter. The upstream conveyor 21 is a roller conveyor, a belt conveyor, or the like.

[0037] The time intervals and placement positions at which workers place items X on the upstream conveyor 21 are not necessarily constant, and multiple items X placed on the upstream conveyor 21 are transported sequentially downstream at irregular intervals.

[0038] In addition, the object X sent from the slicer or minced meat manufacturing machine may be configured to be automatically transferred onto the upstream conveyor 21, and the method of placing the object X on the upstream conveyor 21 may be manual or automatic.

[0039] (Branching means) As shown in FIGS. 1 and 4, the article transport mechanism 20 of this embodiment has a branching means 22 that sequentially receives a plurality of articles X and branches the articles X into a plurality of rows and sends them out.

[0040] This branching means 22 is interposed between the upstream conveyor 21 and the downstream conveyor 23, and in this embodiment receives the articles X transported in a single line by the upstream conveyor 21 and sends them out to the downstream conveyor 23 while branching them into two lines.

[0041] Specifically, as shown in FIG. 4, the branching means 22 has a guide rail 221 extending in a predetermined direction, a slider 222 that is slidably supported on the guide rail 221 and transports the article X, and an actuator 223 that slides the slider 222 along the guide rail 221.

[0042] The guide rail 221 here extends in a direction perpendicular to the conveying direction of the article X, in other words, in a direction perpendicular to the extension direction of the upstream conveyor 21 and the downstream conveyor 23, and is intended to slide the slider 222 along this extension direction.

[0043] 5, the slider 222 is formed by wrapping a conveying belt such as a round belt around a plurality of rollers. An upstream end 222a of the slider 222 is disposed adjacent to a downstream end 21b of the upstream conveyor 21, and a downstream end 222b of the slider 222 is disposed adjacent to an upstream end 23a of the downstream conveyor 23.

[0044] In addition, a small diameter roller 24 such as a rotatable roller is interposed at the transfer point in the gap between the upstream end 222a of the slider 222 and the downstream end 21b of the upstream conveyor 21 so that the article X can be transferred from the upstream conveyor 21 to the slider 222 without losing its posture.

[0045] In addition, a small diameter roller 25 such as a rotatable roller is interposed at the transfer point in the gap between the downstream end 222b of the slider 222 and the upstream end 23a of the downstream conveyor 23 so that the article X can be transferred from the slider 222 to the downstream conveyor 23 without losing its posture.

[0046] The actuator 223 is a drive source such as a motor, and the slider 222 is driven by the drive force from this drive source.

[0047] As shown in FIG. 4, the slider 222 slides between a first position Q1 where the slider 222 receives the item X from the upstream conveyor 21 and sends it to a first row L1 set on the downstream conveyor 23, and a second position Q2 where the slider 222 receives the item X from the upstream conveyor 21 and sends it to a second row L2 set on the downstream conveyor 23.

[0048] The slider 222 stops its sliding movement at the first position Q1 for a predetermined time, during which time the article X is sent to the first line L1, and stops its sliding movement at the second position Q2 for a predetermined time, during which time the article X is sent to the second line L2.

[0049] The slider 222 of this embodiment receives the article X to be sent next to the second row L2 at the first position Q1, and receives the article X to be sent next to the first row L1 at the second position Q2.

[0050] This allows the slider 222 to pause at only two locations, the first position Q1 and the second position Q2, when alternately distributing the items X received from the upstream conveyor 21 to the first row L1 and the second row L2 set on the downstream conveyor 23.

[0051] The downstream conveyor 23 transports the item X received from the branching means 22 to a predetermined picking position P2, and is specifically a roller conveyor having multiple transport rollers arranged along the transport direction of the item X.

[0052] These transport rollers are arranged at intervals from each other, and each transport roller is driven by a separate motor (not shown) so that the transport speed of each transport roller can be controlled independently. Specifically, the transport speeds of all transport rollers constituting the downstream conveyor 23 may be controlled independently from each other, or the transport speed of each transport roller group consisting of multiple consecutive transport rollers may be controlled independently.

[0053] (separation means) 1 and 6, the transfer system 100 of this embodiment further includes a separation means 80 for separating a leading item X from a following item X among the items X sequentially transported to the picking position P2 by the downstream conveyor 23 described above.

[0054] As shown in FIG. 6, the separating means 80 has a stopper 81 that is positioned between a preceding item X and a succeeding item X among the items X being transported by the downstream conveyor 23 and moves between a restricting position Bx that restricts the movement of the succeeding item X and a non-restricting position By that retreats from the restricting position Bx and allows the movement of the succeeding item X, and an actuator (not shown) that drives the stopper 81.

[0055] The stopper 81 is provided so as to be able to rise and fall between adjacent conveying rollers that make up the downstream conveyor 23, and at the restricting position Bx, its upper end protrudes above the conveying surface of the conveying rollers, and at the non-restricting position By, its upper end retracts below the conveying surface. In other words, the tip of the stopper 81 at the restricting position Bx is located above the bottom surface of the article X, and the tip of the stopper 81 at the non-restricting position By is located below the bottom surface of the article X.

[0056] In this embodiment, as described above, the downstream conveyor 23 transports the articles X in multiple rows (two rows), and as shown in FIG. 6, stoppers 81 are provided for each row so as to be movable independently of each other.

[0057] That is, a first stopper 81(A) that separates a leading item X from a trailing item X in the first row L1, and a second stopper 81(B) that separates a leading item X from a trailing item X in the second row L2, each move between a restricted position Bx and a non-restricted position By at timings independent of each other.

[0058] The first stopper 81(A) and the second stopper 81(B) move from the restricted position Bx to the non-restricted position By when a sensor (not shown) that detects the item X transported to the picking position P2 detects that the item X at the picking position P2 has been picked up.

[0059] On the other hand, the first stopper 81(A) and the second stopper 81(B) move from the non-restriction position By to the restricting position Bx when, for example, a sensor (not shown) that detects the leading article X, whose movement is restricted by the first stopper 81(A) and the second stopper 81(B), detects that the article X has been transported downstream. Alternatively, the first stopper 81(A) and the second stopper 81(B) may move from the non-restriction position By to the restricting position Bx when a predetermined time has elapsed since they moved from the restricting position Bx to the non-restriction position By.

[0060] With the above-described configuration, the conveyor provided upstream of the stopper 81 and downstream of the branching means 22 functions as an accumulation conveyor that temporarily accumulates the items X. This allows the system to continue operating normally even if an unexpected event occurs in which the conveying speed of the items X fluctuates or the conveyance temporarily stops.

[0061] Here, the item conveying mechanism 20 of this embodiment is configured so that, among the items X whose movement is restricted by the stopper 81, the movement speed of the leading item X when the restriction by the stopper 81 is released is faster than the movement speed of the following items X when the restriction by the stopper 81 is released.

[0062] Specifically, the conveying speed of at least one conveying roller on which the leading item X among the items X regulated by the stopper 81 is placed is set faster than the conveying speed of at least one conveying roller on which the next following item X is placed.

[0063] In this configuration, the article transport mechanism 20 of this embodiment is configured to decelerate the separated preceding article X just before it reaches the picking position P2.

[0064] Specifically, the item conveying mechanism 20 has a first conveying conveyor 26 located downstream of the branching means 22, and a second conveying conveyor 27 located downstream of the first conveying conveyor 26 and conveying item X to the picking position P2, and the conveying speed of the second conveying conveyor 27 is set to be slower than the conveying speed of the first conveying conveyor 26.

[0065] (stopping means) As shown in FIGS. 1 and 6, the stopping means 30 stops the article X conveyed by the above-mentioned conveying mechanism at the picking position P2.

[0066] 6, the stopping means 30 is contacted by the article X transported to the picking position P2, and specifically has a stopper surface 31 along a direction intersecting the transport direction. The stopping means 30 may have a variety of specific shapes, such as a flat plate shape or a block shape.

[0067] The stopper surface 31 is a surface against which the article X conveyed to the picking position P2 comes into contact, and may be perpendicular to the conveying direction or may be inclined. The stopper surface 31 may be flat or curved.

[0068] (Guide member) As shown in FIGS. 1 and 6, the transfer system 100 of this embodiment further includes a guide member 90 that guides the item X being transported by the downstream conveyor 23, which is the item transport mechanism 20, to the picking position P2.

[0069] Here, if guide members 90 were provided on both sides of the width of the item X, the spacing between the guide members 90 would have to be adjusted according to the width dimension of the item X. However, in this embodiment, the guide members 90 are provided on only one side of the width of the item X, so that items X of various sizes can be reliably guided to the picking position P2 without adjusting the guide members 90.

[0070] 6, this guide member 90 has a guide surface 91 against which the leading article X conveyed when the stopper 81 described above moves to the non-restricting position By comes into contact. The specific shape of the guide member 90 may be various, such as a flat plate or block shape, or the guide surface 91 may be formed by a roller. The guide member 90 may be separate from the stopping means 30 described above, or may be molded integrally therewith.

[0071] The guide surface 91 is inclined with respect to the conveying direction, specifically, it is inclined so as to gradually move from the inside to the outside of the downstream conveyor 23 from the upstream side to the downstream side in the conveying direction. However, the direction in which the guide surface 91 is inclined is not limited to this, and it may be inclined so as to gradually move from the outside to the inside of the downstream conveyor 23 from the upstream side to the downstream side in the conveying direction.

[0072] The position where the article X being conveyed along this guide surface 91 comes into contact with the stopper surface 31 and stops is the picking position P2.

[0073] Here, in order to ensure that the article X is stopped at the picking position P2 without being displaced when it contacts the stopper surface 31, it is desirable that the above-mentioned stopper surface 31 be perpendicular to the guide surface 91, as shown in Figure 6.

[0074] (Buffer material) Even if the stopper surface 31 and the guide surface 91 are arranged perpendicular to each other in this manner, misalignment may occur when the item X stops. Therefore, the transfer system 100 of this embodiment is equipped with a buffer member 92 to absorb the impact applied to the item X when the item X stops, as shown in Figure 6.

[0075] This buffer member 92 is made of, for example, resin, urethane, gel, or a spring, and is flexible and resilient. Here, it is provided between, for example, the back surface of the stopper surface 31 of the stopping means 30 described above and a fixed member (not shown) provided downstream of this back surface.

[0076] (Transfer robot) As shown in FIG. 1, the transfer robot 40 picks up an item X stopped at a picking position P2 and transfers it to a case C transported to a transfer position P1, and is, for example, a three-axis robot.

[0077] 7 and 8, the transfer robot 40 has a gripping unit 41 that sucks and grips the article X, and the gripping unit 41 moves along three mutually perpendicular axes and rotates around the Z axis that is aligned in the vertical direction. Note that in this embodiment, the gripping unit 41 has, for example, a plurality of suction cups 411, but it does not necessarily have to suck and grip the article X, and may instead grip the article X by clamping it from the left and right or the front and back directions, for example.

[0078] The operation of this gripping unit 41 is controlled by a control device 60 described later, and it transfers a predetermined number of items X to a plurality of predetermined placement positions within the case C in a predetermined order and in a predetermined posture.

[0079] In this embodiment, as shown in FIG. 1, a plurality of the above-described transfer robots 40 are provided.

[0080] 7 and 8, two transfer robots 40 are provided corresponding to each row of articles X transported by the downstream conveyor 23, and a first transfer robot 40(A) and a second transfer robot 40(B) are arranged in opposing positions across a case C. The first transfer robot 40(A) and the second transfer robot 40(B) have the same structure.

[0081] Therefore, in the transfer operation of transferring multiple items X to the same case C, the movement trajectories of the items X by the above-mentioned multiple transfer robots 40 are set so as not to intersect with each other, in other words, the movement trajectories of the gripping parts 41 of the multiple transfer robots 40 are set so as not to intersect with each other.

[0082] More specifically, as shown in Figures 7 and 8, the first transfer robot 40(A) transfers item X from one side of the position sandwiching the case C to a loading position set on one side within the case C (hereinafter also referred to as the first loading position R1), but does not transfer item X to a loading position set on the other side within the case C (hereinafter also referred to as the second loading position R2).

[0083] On the other hand, as shown in Figures 7 and 8, the second transfer robot 40(B) transfers item X from the other side of the clamping position of case C to a second placement position R2 set on the other side within case C, and does not transfer item X to the first placement position R1 set on one side within case C.

[0084] Here, if the conveying direction of the item X is the X direction and the direction perpendicular to the X direction in a plan view is the Y direction, as shown in Figure 7, when the placement positions within the case C are set in an even number of rows (here, two rows) along the X direction, all placement positions on one side of the Y direction center line LY within the case C will be first placement positions R1, and all placement positions on the other side of the Y direction center line LY will be second placement positions R2.

[0085] In this embodiment, at each of the first placement position R1 and the second placement position R2, priority is given to transferring from the side closest to the picking position P2, and an example of the transfer order can be the numerical order shown in Figure 7.

[0086] With this transfer order, the movement trajectory of the gripping unit 41 of the first transfer robot 40(A) moving back and forth between each first placement position R1 and the picking position P2 and the movement trajectory of the gripping unit 41 of the second transfer robot 40(B) moving back and forth between each second placement position R2 and the picking position P2 do not intersect with each other.

[0087] On the other hand, as shown in Figure 8, if the placement positions within case C are set in odd-numbered rows (here, three rows) along the X direction, several placement positions will be set on the line segment of the Y-direction center line LY.

[0088] Therefore, in this case, in order to prevent the movement trajectory of the gripping unit 41 of the first transfer robot 40(A) and the movement trajectory of the gripping unit 41 of the second transfer robot 40(B) from intersecting with each other, a portion of the placement position set on the line segment of the Y-direction center line LY is set as the first placement position R1, and the remainder is set as the second placement position R2.

[0089] In this case, too, at each of the first placement position R1 and the second placement position R2, priority is given to transferring from the side closer to the picking position P2, and an example of the transfer order can be the numerical order shown in Figure 8.

[0090] (Case ejection mechanism) As a result, when a predetermined number of articles X are transferred into the case C, this triggers the second conveying direction change means 70 to be driven and the case discharge mechanism 50 to operate, discharging the case C to a predetermined discharge position P3. Note that the case discharge mechanism 50 may continue to operate.

[0091] The cases C that have been carried out to the carrying-out position P3 may be carried to another location by an operator, or may be stacked automatically by a stacking means.

[0092] (Control device) The control device 60 is a computer such as a PLC equipped with a CPU, memory, input / output means, etc., and when the transfer system program stored in the memory is run, the CPU and its peripheral devices work together to operate the above-mentioned case loading mechanism 10, item transport mechanism 20, branching means 22, separation means 80, transfer robot 40, and case unloading mechanism 50 in conjunction with each other.

[0093] The operation of the transfer system 100 controlled by the control device 60 will be described below with reference to the flowchart of FIG.

[0094] The control device 60 controls the case carry-in mechanism 10 to transport the leading empty case C to the transfer position P1 while the stacked case group Cx is separated by the separating means 11 (S1). At this time, one or more subsequent cases C are made to wait at one or more waiting positions P0 upstream of the transfer position P1.

[0095] In parallel with the transport of the above-mentioned case C, the control device 60 controls the item transport mechanism 20 to branch the items X into two rows via the branching means 22, and moves the stopper 81, which is the separation means 80, up and down, thereby separating the leading item X from the trailing item X and transporting it to the picking position P2 (S2).

[0096] Next, the control device 60 controls the two transfer robots 40 to transfer the item X at the picking position P2 to the case C at the transfer position P1 (S3). The control device 60 previously receives quantity information indicating the number of items X to be transferred to the case C, and based on this quantity information, transfers that number of items X to predetermined placement positions within the case C in a predetermined order and in a predetermined attitude. An example of the transfer order and attitude is as described above with reference to Figures 7 and 8, and will not be described here.

[0097] When the transfer robot 40 has completed the transfer of the number of articles X to be transferred, the control device 60 controls the case carrying-out mechanism 50 to transport the case C to a predetermined carrying-out position P3 (S4).

[0098] Thereafter, the above-described steps S1 to S4 are repeated until the transfer of the articles X to the target number of cases C is completed.

[0099] (Actions and Effects of the Transfer System According to the Present Embodiment) According to the transfer system 100 configured in this manner, the transfer robot 40 can be made inexpensive because it picks up the item X stopped at the picking position P2, thereby reducing the manufacturing cost of the system. Furthermore, since the article transport mechanism 20 has a branching means 22 that branches the articles X into multiple rows, and multiple transfer robots 40 are provided, the processing capacity can be improved. In this way, according to the transfer system 100 described above, it is possible to reduce manufacturing costs while also suppressing a decrease in processing capacity.

[0100] Furthermore, the transfer system 100 of this embodiment is equipped with a separation means 80 that separates the leading item X among the multiple items X being transported sequentially from the following items X, thereby preventing the item X to be picked up from sticking to the following item X via a packaging material such as a wrap, and enabling the item X stopped at the picking position P2 to be picked up stably.

[0101] Furthermore, since the stopper 81 can separate the preceding article X from the following article X by moving between the restricting position Bx and the non-restricting position By, the separating means 80 can be constructed relatively easily.

[0102] Furthermore, since the stopper 81 is provided between the adjacent transport rollers so as to be able to move up and down, the stopper 81 can be placed in the dead space below the transport rollers, thereby saving space in the system.

[0103] Furthermore, among the articles X whose movement is restricted by the stoppers 81, the movement speed of the leading article X when the restriction by the stopper 81 is released is set to be faster than the movement speed of the following article X when the restriction by the stopper 81 is released, so when the leading article X starts to move, a gap is created between it and the following article X. As a result, by moving the stopper 81 into that gap, the stopper 81 can be smoothly interposed between the leading article X and the following article X.

[0104] In addition, since the item conveying mechanism 20 decelerates the item X just before the picking position P2, the item X can be stopped in a stable posture without shifting position, and the item X can be aligned correctly.

[0105] Furthermore, since a guide member 90 is provided to guide the item X being transported by the item transport mechanism 20 to the picking position P2, the item X can be transported to the picking position P2 more reliably in a stable posture without positional deviation.

[0106] Furthermore, since the transfer robot 40 picks up the item X by suction, the item X can be picked up stably.

[0107] (Another embodiment of the transfer system) The present invention is not limited to the above-described embodiment.

[0108] For example, the transfer system 100 according to the present invention may not be provided with the separation means 80, as long as it can smoothly pick up the preceding item X without losing its posture or causing a positional shift, even if the preceding and succeeding items X are in contact with each other.

[0109] Furthermore, the separating means 80 is not limited to one that moves up and down, but may also be one that moves back and forth, for example, horizontally between the restricting position Bx and the non-restricting position By, or one that moves in rotation around a predetermined axis.

[0110] Furthermore, in the above embodiment, the stopper 81 constituting the separation means 80 has its upper end positioned above the top surface of the article X at the regulating position Bx, but as shown in FIG. 10, it may be positioned between the bottom and top surfaces of the article X (i.e., below the edge of the tray). With this configuration, the stopper 81 can be interposed between the preceding article X and the following article X without causing a difference in the moving speed of the article X when the restriction by the stopper 81 is released.

[0111] The gripping unit 41 of the transfer robot 40 is not limited to one that grips the item X by suction, but may be one that grips the item X by pinching it, or one that grips it by supporting it from below.

[0112] Furthermore, in the above embodiment, the case where two transfer robots 40 are provided has been described, but only one transfer robot 40 may be provided, or three or more transfer robots 40 may be provided.

[0113] Furthermore, although the branching means 22 is described as being branched into two rows in the above embodiment, it may be branched into three or more rows.

[0114] Furthermore, the transfer system 100 according to the present invention may be configured so that the movement trajectory of the transfer robot 40 relative to the case C changes depending on the size of the article X.

[0115] Specifically, the control device 60 may have a control data storage unit that stores robot control data that links movement trajectory information indicating the movement trajectory of the transfer robot 40 to each of multiple item information indicating the size or number of item X, and an item information receiving unit that receives item information input from an external source such as a user or equipment upstream of this system.

[0116] In such a configuration, the control device 60 may be configured to acquire movement trajectory information linked to the item information received by the item information receiving unit, and to control the transfer robot 40 based on this movement trajectory information.

[0117] Furthermore, the transfer system 100 may transfer multiple tiers of articles X to a case C.

[0118] Specifically, the control device 60 may have a function as a tier number selection unit for selecting whether to transfer articles to the case C in multiple tiers (for example, two tiers) or in one tier. The transfer order for each placement position on the first and second tiers may be set to be the same, or may be set to be different from each other.

[0119] The item X to be transferred is not limited to a packaged container containing food, but may be any packaged food, for example, as shown in FIG. 11, a container containing food sealed with a top seal such as prepared foods sold at a convenience store, a container containing food with a top lid fitted over it such as a boxed lunch, or such a container with a fitted top lid wrapped in shrink film, or a container sealed with a top seal or lid and wrapped in a film strip, food packaged in a small bag known as a pouch, food packaged in a pillow bag, food packaged in a paper carton such as boiled eggs, food packaged in a paper carton such as tofu or natto bundled together in a film strip, or food packaged in film such as rice balls.

[0120] Furthermore, the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0121] 100 Transfer System X...Goods C···Case 10. Case loading mechanism 11. De-staging means 20. Item transport mechanism 22 Branching means 30...stopping means 40 Transfer robot 50 Case ejection mechanism 60 Control device 80...Separation means 90 Guide member P1...transfer position P2: Picking position R1: First placement position R2: Second placement position

Claims

1. a conveying mechanism that conveys the food to a predetermined picking position; a stopping means for stopping the food at the picking position; a transfer robot that picks up the food stopped at the picking position and transfers it to a case transported to a predetermined transfer position, The transfer system is characterized in that the conveying mechanism has a branching means for sequentially receiving a plurality of the food items and branching the food items into a plurality of rows while sending them out.

2. 2. The transfer system according to claim 1, wherein the transport mechanism decelerates the food product just before the picking position.

3. The transport mechanism a first transport conveyor provided downstream of the branching means; a second conveyor disposed downstream of the first conveyor for conveying the food to the picking position; 3. The transfer system according to claim 2, wherein the transport speed of the second transport conveyor is slower than the transport speed of the first transport conveyor.

4. 2. The transfer system according to claim 1, wherein a plurality of the transfer robots are provided.

5. 5. The transfer system according to claim 4, wherein the trajectories of movement of the food products by the plurality of transfer robots are set so as not to intersect with each other.

6. a first transfer robot and a second transfer robot are disposed at positions facing each other with the case in between; a first transfer robot transfers the food from one side of a position sandwiching the case to a placement position set on one side of the case, and does not transfer the food to a placement position set on the other side of the case; The transfer system described in claim 5, characterized in that the second transfer robot transfers the food from the other side of the position sandwiching the case to a loading position set on the other side of the case, and does not transfer the food to a loading position set on one side of the case.

7. 2. The transfer system according to claim 1, wherein the branching means moves between a first position for delivering the food to a first row and a second position for delivering the food to a second row, and is configured to receive the food to be delivered to the second row next at the first position and to receive the food to be delivered to the first row next at the second position.

8. 2. The transfer system according to claim 1, wherein the transfer robot sucks and holds the food.

9. a transport step of transporting the food to a predetermined picking position; a stopping step of stopping the food at the picking position; a transfer step of picking up the food stopped at the picking position and transferring it to a case transported to a predetermined transfer position, A transfer method characterized in that, in the conveying step, a plurality of the food items are received in sequence and sent out while branching into a plurality of rows.

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