Transfer method and transfer apparatus

Abstract

To densely fill an object such as agricultural products in a container.SOLUTION: In a transfer method of transferring an object from a first position to a second position, the object at the first position is held by a plurality of holding members including a first holding member and a second holding member, the first holding member is moved with respect to the second holding member in a state of holding the object to direct the object in a held state in a predetermined direction, the plurality of holding members are moved to the second position, and holding by the plurality of holding members is released to dispose the object at the second position.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present disclosure relates to a transfer method and a transfer device. [Background technology]

[0002] After being harvested from cultivated fields, agricultural products such as vegetables and fruits are collected at collection and shipping points, and then delivered to wholesale and retail stores before reaching consumers. During this distribution process, agricultural products undergo cleaning, inspection, sorting, and other processes at the collection and shipping points. After being lined up into a desired number of individual pieces, the agricultural products undergo cleaning, inspection, and sorting before being transferred to packaging containers and packed. Generally, these processes are performed manually. It is known to mechanize this series of processes in order to achieve a certain processing capacity, ensure quality, and reduce the number of workers (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-42240 Summary of the Invention [Problem to be solved by the invention]

[0004] Some agricultural products have fragile properties, complex shapes, or unstable shapes. For example, cucumbers are irregular in shape and vary in size. When such agricultural products are transported by a device and placed in a packaging container, if the orientation (posture) is not uniform, gaps between the agricultural products become large. This makes it difficult to pack the agricultural products densely into the packaging container.

[0005] In view of the above circumstances, an embodiment of the present disclosure aims to provide a transfer method and a transfer device that can pack objects such as agricultural products into a container at a high density. [Means for solving the problem]

[0006] A transfer method according to one embodiment of the present disclosure is a method for transferring an object from a first position to a second position, in which the object at the first position is held by a plurality of holding members including a first holding member and a second holding member, and the first holding member is moved relative to the second holding member while holding the object, thereby orienting the held object in a predetermined direction, moving the plurality of holding members to the second position, releasing the holding by the plurality of holding members, and placing the object at the second position. [Effects of the Invention]

[0007] According to one embodiment of the present disclosure, there is provided a transfer method and a transfer device that can pack objects such as agricultural products into a container at high density. [Brief explanation of the drawings]

[0008] [Figure 1] 1A and 1B are a plan view and a side view of a packaging device including a transfer device according to an embodiment of the present disclosure. [Figure 2A] FIG. 10 is a diagram illustrating an example of a closed state in which an object is held according to an embodiment of the present disclosure. [Figure 2B] FIG. 10 is a diagram illustrating an example of a closed state in which an object is held according to an embodiment of the present disclosure. [Figure 2C] FIG. 10 is a diagram schematically illustrating an example of an open state in which the holding of an object is released in an embodiment of the present disclosure. [Figure 3A] FIG. 1 illustrates a container filled with an object in accordance with an embodiment of the present disclosure. [Figure 3B] FIG. 1 illustrates a container filled with an object in accordance with an embodiment of the present disclosure. [Figure 4] FIG. 10 is a diagram schematically illustrating an example of an open state in which the holding of an object is released in an embodiment of the present disclosure. [Figure 5] 1 is a schematic diagram illustrating holding of an object by a transfer device according to an embodiment of the present disclosure. [Figure 6] FIG. 2 is a side view of a holding hand provided in the transfer device according to the embodiment of the present disclosure. [Figure 7] 7 is a view of the holding hand as seen from the arrow B in FIG. 6. [Figure 8] FIG. 2 is a side view of a holding hand provided in the transfer device according to the embodiment of the present disclosure. [Figure 9] 7 is a view of the holding hand as seen from the arrow A in FIG. 6. [Figure 10] FIG. 10 is a diagram illustrating a closed state in which a holding hand holds an object according to an embodiment of the present disclosure. [Figure 11] 10A and 10B are diagrams illustrating how a holding hand changes the orientation of an object in one embodiment of the present disclosure. [Figure 12] 10A and 10B are diagrams illustrating an open state in which the holding hand releases the object in an embodiment of the present disclosure. [Figure 13] 10A and 10B are diagrams illustrating a method for transferring an object using a holding hand according to a modified example of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] The following description relates to a transfer device and a transfer method according to an embodiment of the present disclosure. Common or corresponding elements are denoted by the same or similar reference numerals, and redundant descriptions are appropriately simplified or omitted. For the sake of convenience, the configurations in each drawing are enlarged, reduced, or omitted as appropriate. To improve the visibility of the drawings, elements in the drawings are shown with lines other than solid lines (such as dashed lines or broken lines) as necessary.

[0010] In the following description, the two horizontal directions that are perpendicular to each other are referred to as the X direction and the Y direction. The vertical direction that is perpendicular to both the X direction and the Y direction is referred to as the Z direction. In other words, the X, Y, and Z directions are perpendicular to each other. The coordinate system of the three axes, XYZ, is a left-handed system. For convenience, the axes extending in the X direction, Y direction, and Z direction may be referred to as the X axis, Y axis, and Z axis, respectively. The X direction may also be referred to as the left-right direction. The Y direction may also be referred to as the front-back direction. The Z direction may also be referred to as the up-down direction. Note that the names of directions are used for convenience to explain the relative positional relationships of components and do not indicate absolute directions. For example, depending on the orientation of the device, the X direction may not necessarily be the left-right direction but may be the front-back direction.

[0011] FIG. 1 is a plan view and a side view of a packing apparatus 1 including a transfer device according to one embodiment of the present disclosure. The packing apparatus 1 transfers and packs objects 2, such as agricultural produce, on a conveying path A1 into a container 3. The packing apparatus 1 includes a conveying device 20, a transfer device 40, a detection device 50, and a control device 60. The conveying device 20 conveys the objects 2 along the conveying path A1. The transfer device 40 holds the objects 2 being conveyed on the conveying path A1 and places them in the container 3. The detection device 50 detects the position and state of the objects 2 being conveyed on the conveying path A1. The control device 60 controls the operation of each part of the transfer device 40.

[0012] In this embodiment, the object 2 is, for example, a farm product or agricultural produce that has fragile properties or a complex or unstable shape, such as a vegetable or fruit. In this embodiment, an example is shown in which a cucumber is used as the object 2 as an example of a farm product that has fragile properties or a complex or unstable shape. The object 2 may be other than a cucumber (for example, a member of the Cucurbitaceae family, such as bitter melon or zucchini, or a banana, okra, shishito peppers, bell peppers, green onions, or myoga ginger). The object 2 may also be other than a farm product (for example, a specialized forest product, such as a mushroom).

[0013] The container 3 is, for example, a box in which the object 2 is placed and stored. Illustratively, the container 3 is formed in a box shape with an open top. The object 2 is transferred into the container 3 from above, and the container 3 is covered with a cover, lid, plastic bag, newspaper, or the like. A transfer position (an example of a second position) to which the object 2 is transferred is set on the placement portion 3a of the container 3.

[0014] It should be noted that any reference to an element using a designation such as "first," "second," etc., used in this disclosure does not generally limit the quantity or order of those elements. These designations are used for convenience to distinguish between two or more elements. Thus, reference to a first and a second element does not imply, for example, that only two elements are employed, that the first element must precede the second element, etc.

[0015] The conveying device 20 is configured to be able to convey the object 2 along the conveying path A1. The conveying device 20 is, for example, a belt conveyor-type conveying mechanism. The conveying device 20 includes a guide member 25, a conveying belt 26, a plurality of conveying rollers (not shown), and a motor. The guide member 25 is installed along the predetermined conveying path A1. The conveying belt 26 is supported by the guide member 25 and is arranged along the entire conveying path. The conveying rollers are installed on the back side of the conveying belt 26 and feed the conveying belt 26. The motor is a driving source that drives the conveying rollers to rotate.

[0016] The conveying device 20 sends the object 2 arranged on the conveying belt 26 along a conveying path A1. The conveying path A1 is formed to extend in the Y direction, for example.

[0017] The detection device 50 is installed at a predetermined location on the conveying path A1. The detection device 50 has a position sensor and an image sensor for detecting the position and state of the object 2. On the primary side of the detection device 50 on the conveying path A1, a pre-processing area 70 is provided where loading processing and sorting processing before transfer are performed. The primary side of the conveying path A1 may be connected to another conveying path. On the conveying path A1, on the secondary side of the detection device 50, a pickup position (an example of a first position) where the transfer device 40 picks up the object 2 on the conveying path A1 is provided.

[0018] The conveying device 20 guides and conveys the object 2 placed on the conveying belt 26 in a lying position along the conveying path A1 by the feed movement of the conveying belt 26 caused by the rotation of the conveying rollers. The conveying path A1 can be set as appropriate. For example, the conveying path A1 may be curved, bent, or inclined.

[0019] The transfer device 40 includes a holding hand 41 and a transfer arm 42. The holding hand 41 is configured to be able to hold and release (release) the object 2. The holding hand 41 has a size that allows it to be inserted into the container 3 through the opening of the container 3. Details of the holding hand 41 will be described later.

[0020] The transfer arm 42 is a hand movement mechanism that can support and move the holding hand 41. The transfer arm 42 can move the holding hand 41 to the vicinity of a transfer position within the container 3. In other words, the transfer arm 42 is an example of a support unit that supports the holding hand 41, which has a plurality of holding members, so that the holding hand 41 can be moved between a pickup position (an example of a first position) and a transfer position (an example of a second position).

[0021] The transfer arm 42 extends upward and horizontally from a base end disposed adjacent to the transport path A1, straddling the transport path. The transfer arm 42 movably and rotatably supports the holding hand 41. Specifically, the transfer arm 42 includes a support column 46, a first pivot arm 47, a second pivot arm 48, a rotation mechanism 49, and an elevation mechanism 51.

[0022] The support pillar 46 is erected upward from a base end position adjacent to the side of the conveying path A1 or the end position of the conveying path A1. The support pillar 46 supports the first rotating arm 47 so that it can rotate around an axis in the Z direction. Note that, to further save space, the support pillar 46 may be connected to the ceiling and support the first rotating arm 47.

[0023] The first rotating arm 47 includes an arm portion 47a and a driving source 47b. The arm portion 47a is connected to the upper end of the support column 46 and extends perpendicular to the Z-axis, which is the extension direction of the support column 46. The driving source 47b includes a rotary motor that rotates the arm portion 47a. A second rotating arm 48 is connected to the tip of the arm portion 47a.

[0024] The second rotating arm 48 includes an arm portion 48a and a driving source 48b. The arm portion 48a is connected to the tip of the arm portion 47a of the first rotating arm 47, and is formed to extend perpendicular to the Z axis. The driving source 48b includes a rotary motor that rotates the arm portion 48a. The tip of the arm portion 48a is connected to the base portion 43 of the holding hand 41 (see FIG. 6, etc., described below) via a rotation mechanism 49 and an elevation mechanism 51.

[0025] The rotational movements of the first rotating arm 47 and the second rotating arm 48 are controlled by a control unit 61 included in the control device 60. The direction and amount of rotation of the first rotating arm 47 and the second rotating arm 48 are determined based on information detected by the detection device 50. By adjusting the amount of rotation using correction conditions calculated according to the position of the detected object 2, the holding hand 41 supported by the transfer arm 42 can be moved to a position suitable for each object 2.

[0026] The rotation mechanism 49 is provided at the tip of the second rotating arm 48. The rotation mechanism 49 supports the base 43 so that it can rotate around an axis along the Z direction. The rotation operation of the rotation mechanism 49 is controlled by the control unit 61. The rotation direction and amount of rotation of the rotation mechanism 49 are determined based on information detected by the detection device 50. The rotation mechanism 49 corrects the orientation of the holding hand 41 to match the orientation of each individual object 2 by rotating the base 43 under correction conditions calculated according to the detected orientation of the object 2. An example of an orientation of the holding hand 41 to match the object 2 is an orientation in which a pair of holding members 44 (a first holding member 44A and a second holding member 44B described below) are positioned to sandwich both sides of the object 2.

[0027] The lifting mechanism 51 supports the base 43 so that it can move in the Z direction relative to the tip of the second pivot arm 48. The lifting mechanism 51 is equipped with a cylinder mechanism that is capable of linear motion, and has an elevator shaft that can move in the Z direction. The lifting mechanism 51 supports the base 43 on the lower end of the elevator shaft, thereby supporting the holding hand 41 so that it can be raised and lowered.

[0028] The lifting and lowering operation of the lifting mechanism 51 is controlled by the control unit 61. The stroke of the lifting and lowering operation is determined based on the information detected by the detection device 50. In other words, the lifting mechanism 51 lifts and lowers the holding hand 41 under correction conditions calculated according to the position of the detected target object 2.

[0029] The transfer arm 42 configured as described above can position the holding hand 41 at any position within a predetermined movable surface and movable range determined by the strokes of the multiple arms from a base adjacent to the conveying path A1, and can move the holding hand 41 up and down and rotate it.

[0030] The detection device 50 includes, for example, an imaging device and an illumination device. The detection device 50 is connected to the control unit 61. The detection device 50 captures an image of the object 2 being conveyed on the conveying path A1 from above, acquires image information, and transmits the acquired image information to the control unit 61.

[0031] The control device 60 is connected to the drive mechanisms and various sensors of the devices 20, 40. The control device 60 comprises a control unit (data processing unit) 61 that performs data processing such as calculations and judgments based on identification information and controls the operation of each unit, and a storage unit that stores various information. The control unit 61 has, for example, a processing circuit including at least one processor. The control unit 61 executes an operating system or application programs stored in the storage unit to control each unit, thereby realizing various functions of the packing device 1.

[0032] For example, the control unit 61 drives the conveying device 20. As a result, the object 2 is conveyed along the conveying path A1. The control unit 61 drives the imaging device of the detection device 50 at a predetermined timing. As a result, the object 2 is imaged and an image is acquired. The control unit 61 detects the position and state of the object 2 on the conveying path A1 based on the image captured by the imaging device of the detection device 50 and detection data from various sensors.

[0033] The control unit 61 drives and controls the transfer device 40. The drive-controlled transfer device 40 moves and opens and closes the holding hand 41 to pick up the object 2 at the pickup position. The transfer device 40 moves to the vicinity of the transfer position in the container 3 to which the object 2 is to be transferred, and releases the object 2 near the transfer position. In other words, the transfer device 40 transfers the object 2 from the pickup position (an example of a first position) to the transfer position (an example of a second position).

[0034] The control device 60 may be included in the transfer device 40 as a component of the transfer device 40 .

[0035] Long fruits and vegetables such as cucumbers (an example of agricultural produce) are irregularly shaped and not uniform in size, and the degree of curvature varies, with some being more curved than others. Conventionally, when such fruits and vegetables are transferred into a container using a transfer device, it has been difficult to stably position the fruits and vegetables within the container. As a result, for example, each fruit and vegetable ends up being placed in a different orientation within the container. Furthermore, containers are typically sized to accommodate a predetermined number of fruits and vegetables with almost no gaps between them. This is because, for reasons of transportation efficiency and product display, there is no need to reserve extra space. Because fruits and vegetables are placed in different orientations within a limited space, the gaps between them become larger. As a result, the fruits and vegetables are prone to movement within the container due to vibrations during transportation. For example, there is a risk of fruits and vegetables colliding with each other, resulting in damage. Therefore, it is necessary to pack the fruits and vegetables densely within the container.

[0036] Furthermore, if the fruit and vegetables are not oriented uniformly, they look unattractive, which may damage their commercial value. For this reason, it is necessary to pack the fruit and vegetables in the same orientation and at high density in the container.

[0037] The vegetables and fruit placed inside the container can be repacked densely by having workers manually align the orientation of the vegetables and fruit placed inside the container. However, this type of work increases the packing time per box and reduces productivity.

[0038] Therefore, the holding hand 41 is configured so that the fruits and vegetables can be placed in a fixed orientation inside the container 3 while orienting them in a fixed orientation. Because the orientation of the fruits and vegetables placed in the container 3 is uniform, the fruits and vegetables can be packed densely inside the container 3. Because the orientation of the fruits and vegetables is uniform during the transfer process, the time required to package the fruits and vegetables is reduced compared to conventional methods.

[0039] In this embodiment, the object 2 is fruit and vegetables, which are fragile items. If too many fragile fruits and vegetables are stacked, the fruits and vegetables in the upper layers may press down on the fruits and vegetables in the lower layers, causing damage or injury. For this reason, the number of layers of fruit and vegetables that can be stacked is limited. In this embodiment, highly efficient boxing is achieved by packing the fruits and vegetables densely on the inner plane (horizontal plane) of the container.

[0040] Packing the fruits and vegetables densely leaves little room for them to move around inside the container 3. This means that even if vibrations occur during transportation, the fruits and vegetables are less likely to be damaged or bruised. Also, the orientation of the fruits and vegetables is aligned inside the container 3, improving their appearance. This leads to improved product value. As there is no need to manually align the orientation of the fruits and vegetables, the packaging time per box is reduced, improving productivity.

[0041] 2A to 2C, a method for transferring an object 2 (cucumber) using the holding hand 41 will be described. FIGS. 2A and 2B are diagrams schematically illustrating an example of a closed state in which the holding hand 41 holds the object 2. FIG. 2C is a diagram schematically illustrating an example of an open state in which the holding hand 41 releases its hold on the object 2. The upper diagrams in FIGS. 2A to 2C show a state in which the holding hand 41 has picked up the object 2 at the pickup position and moved to the vicinity of the transfer position within the container 3. The lower diagrams in FIGS. 2A to 2C are diagrams illustrating the first holding member 44A and the second holding member 44B of the holding hand 41, which hold both sides of the object 2.

[0042] As shown in FIG. 2A, the first holding member 44A and the second holding member 44B sandwich both sides of the object 2, thereby holding the object 2.

[0043] The holding hand 41 is provided with an air cylinder 44AS. The air cylinder 44AS is connected to the first holding member 44A and supports the first holding member 44A so that it can be raised and lowered in the Z direction. The object 2 is sandwiched between the first holding member 44A and the second holding member 44B, and is therefore pushed by the first holding member 44A and in contact with the second holding member 44B. In this state, as shown in FIG. 2B, when the first holding member 44A is raised by the air cylinder 44AS, the object 2 pushed by the first holding member 44A rolls on the second holding member 44B. Additionally, by moving the first holding member 44A in the vertical direction relative to the second holding member 44B, the object 2 rotates around an axis extending in the horizontal direction (around the Y axis in the example of FIG. 2B).

[0044] The orientation of the target object 2 changes as it rolls on the second holding member 44B. In this embodiment, the control unit 61 controls the amount of lift of the first holding member 44A (in other words, the rotation angle of the cucumber) so that the target object 2 (cucumber) faces in a predetermined direction. The predetermined direction is, for example, the direction in which the curved cucumber is convex upward (the center of the cucumber is positioned high and both ends are positioned low), as shown in FIG. 2B. In other words, the predetermined direction is the direction in which the convex side of the cucumber faces upward and the concave side faces downward.

[0045] The center of gravity of a curved cucumber is located, for example, outside the cucumber. To further explain, when the convex side faces upward, the center of gravity is located below the center of the cucumber. Because the center of gravity is located in such an offset position, when the cucumber is rotated to a certain extent and then released from the first holding member 44A and the second holding member 44B, the cucumber will naturally turn upward and fall due to rotational inertia and its own weight.

[0046] In this embodiment, the first holding member 44A and the second holding member 44B hold the center of the cucumber. This allows the cucumber to rotate stably around an axis extending horizontally (around the Y-axis). Because the direction in which the cucumber rotates is stable, the cucumber can be stably oriented in a predetermined direction.

[0047] The object 2 can also be oriented in a predetermined direction by lowering the first holding member 44A using the air cylinder 44AS, causing the object 2 to roll on the second holding member 44B. In this case, the object 2 rolls in the opposite direction to when the first holding member 44A is raised.

[0048] In this way, the holding hand 41 moves the first holding member 44A relative to the second holding member 44B while holding the object 2, thereby orienting the held object 2 in a predetermined direction. Note that "moving the first holding member 44A relative to the second holding member 44B" includes "moving the first holding member 44A relatively to the second holding member 44B." Therefore, the orientation of the object 2 may be changed by moving both the first holding member 44A and the second holding member 44B relatively.

[0049] The object 2 rotates according to the amount of elevation (in other words, the direction and amount of movement) of each holding member 44. By appropriately controlling the amount of elevation of each holding member 44, the object 2 with various orientations (right-handed, left-handed, etc.) can be easily turned to a predetermined orientation.

[0050] 2C , when the first holding member 44A and the second holding member 44B are moved away from the object 2 to release the hold of the object 2, the object 2 is placed in the container 3. In this way, the transfer device 40 holds the object 2 at the pickup position with the first holding member 44A and the second holding member 44B of the holding hand 41, releases the hold within the container 3, and places the object 2 at the transfer position within the container 3. By repeating this process, a plurality of objects 2 are filled into the container 3.

[0051] When the object 2 is released from its hold, the object 2 falls. Therefore, in this embodiment, the holding hand 41 is moved to the vicinity of the mounting portion 3a of the container 3 and then the hold is released. Therefore, the impact when the object 2 falls can be kept small.

[0052] FIG. 3A shows objects 2 packed in a container 3. The top of FIG. 3A shows a top view of the container 3. The bottom of FIG. 3A shows a side view of the container 3. For convenience, this side view shows the inside of the container 3. As shown in FIG. 3A, the objects 2 are individually aligned within the container 3, and the objects 2 are packed densely. This leaves little room for the objects 2 to move within the container 3. Therefore, even if vibrations occur during transportation, the objects 2 are less likely to be damaged or scratched. Furthermore, because the objects 2 are aligned within the container 3, their appearance is improved. This leads to increased commercial value. Because there is no need to manually align the objects 2, the packaging time per box is reduced, improving productivity.

[0053] In the example of Fig. 3A, the objects 2 in the upper and middle layers are supported by portions of the objects 2 in the gaps between adjacent objects 2, and thus remain standing independently while facing in a predetermined direction. The object 2 in the lower layer is supported less by the adjacent objects 2, and therefore, in the example of Fig. 3A, it has fallen over from its predetermined direction.

[0054] The predetermined orientation is not limited to that shown in FIG. 3A. The predetermined orientation may be, for example, an orientation in which a curved cucumber is convex downward (upside down from FIG. 3A). FIG. 3B shows objects 2 packed in a container 3 in such an orientation. Like FIG. 3A, FIG. 3B shows a top view and a side view of the container 3. In the example of FIG. 3B, the orientations of the objects 2 are aligned within the container 3, and the objects 2 are packed densely. Furthermore, the predetermined orientation of the objects 2 may differ for each layer.

[0055] 3A and 3B, the projected area of ​​each of the objects 2 on the plane inside the container is small. Therefore, the objects 2 can be packed densely on the plane inside the container. The objects 2 can be packed efficiently with a small number of layers.

[0056] The transfer device 40 may further include holding members similar to the first holding members 44A and the second holding members 44B. That is, the number of holding members is not limited to two, and may be three or more.

[0057] While the transfer device 40 is moving from the pickup position to the transfer position, it moves the first holding member 44A with the air cylinder 44AS to orient the target object 2 in a predetermined direction. Because the orientation of the target object 2 is adjusted while the transfer device 40 is moving, the time required for the manual work described above can be reduced, and the time required to package the target object 2 can be reduced compared to conventional methods.

[0058] FIG. 4 is a diagram schematically illustrating an example of an open state in which the holding hand 41 releases its hold on the object 2. The transfer device 40 is provided with a holding member 45. The holding member 45 is an example of a pushing member. The first holding member 44A is raised by the air cylinder 44AS to rotate the object 2, and as shown in FIG. 4, when the hold is released, the holding member 45 pushes the object 2 downward, accelerating the rotation of the object 2 rolling on the second holding member 44B. The pushing increases the rotational speed, allowing the object 2 to rotate more.

[0059] In this way, the amount of rotation of the target object 2 can be increased by pushing out by the pressing member 45. Therefore, even if the amount of lift of the first holding member 44A by the air cylinder 44AS is small, the target object 2 can be sufficiently rotated. Since the range of movement of the air cylinder 44AS and the first holding member 44A is limited, the transfer device 40 can be made smaller.

[0060] 5 is a schematic diagram showing how the holding hand 41 holds the object 2. If the transfer device 40 is moved at high speed from the pickup position to the vicinity of the transfer position, there is a risk that the object 2 will come off the holding hand 41 and fall. Therefore, at least one (two in this embodiment) third holding member 44C is provided in the transfer device 40.

[0061] As shown in Fig. 5, the third holding member 44C holds the side of the object 2 together with the first holding member 44A and the second holding member 44B. In other words, the third holding member 44C is an example of an auxiliary holding member that assists these holding members in holding the object 2. In the example shown in Fig. 5, the object 2 is supported at four points. Therefore, even when the transfer device 40 moves at high speed, the object 2 is prevented from coming off the holding hand 41 and falling.

[0062] By providing the third holding member 44C, the object 2 (cucumber) can be held along the curved shape. In this respect, the object 2 can be held more stably, and the object 2 is prevented from slipping off the holding hand 41 and falling.

[0063] The more the number of third holding members 44C is increased, the more stably the object 2 can be held. The fewer the number of third holding members 44C is, the more the transfer device 40 can be made compact.

[0064] Consider a case where the orientation of the object 2 is changed while it is held by the third holding member 44C. In this case, frictional forces acting between the third holding member 44C and the object 2 may prevent the object 2 from smoothly changing orientation. Furthermore, mechanical interference between the object 2 and the third holding member 44C may prevent the object 2 from rotating properly. Therefore, before opening the holding hand 41 and placing the object 2 at the transfer position, the third holding member 44C releases its hold on the object 2, as shown in FIG. 5 . As a result, when the first holding member 44A is raised by the air cylinder 44AS, the object 2 smoothly rolls on the second holding member 44B, and the object 2 is oriented in the desired direction. To shorten the packing time, the first and second holding members 44A and 44B may be released simultaneously with the release of the third holding member 44C.

[0065] The configuration of the holding hand 41 will be described in more detail. Figures 6 and 8 are side views of the holding hand 41. Figure 7 is a view of the holding hand 41 as seen from the arrow B corresponding to the arrow B in Figure 6. Figure 9 is a view of the holding hand 41 as seen from the arrow A corresponding to the arrow A in Figure 6.

[0066] The holding hand 41 includes a base portion 43 , a holding member 44 and a pressing member 45 .

[0067] The base unit 43 is supported by the rotation mechanism unit 49 and includes an upper base 43a, a lower base 43b, and a plurality of support columns 43c. The upper base 43a and the lower base 43b are plate-like members arranged opposite each other. The support columns 43c are installed between the upper base 43a and the lower base 43b. The upper end of the support column 43c is fastened to the upper base 43a. The lower end of the support column 43c is fastened to the lower base 43b. This fixes the upper base 43a, the lower base 43b, and the support columns 43c together.

[0068] The base 43 supports each part of the holding hand 41, including the holding member 44. When transferring the object 2, the first rotating arm 47, the second rotating arm 48, and the rotation mechanism 49 rotate, correcting the orientation of the holding hand 41 to match the orientation of each individual object 2. This allows the holding hand 41 to hold the object 2 by sandwiching it from both sides, and to transfer the held object 2 into the container 3.

[0069] The upper base 43a, the lower base 43b, and the plurality of support columns 43c are made of, for example, metal. The upper base 43a, the lower base 43b, and the plurality of support columns 43c may also be made of another material, such as resin.

[0070] The holding members 44 include a first holding member 44A, a second holding member 44B, and two third holding members 44C. When the first holding member 44A to the third holding member 44C are collectively referred to as "holding members 44."

[0071] The first holding member 44A and the second holding member 44B are arranged facing each other. The first holding member 44A and the second holding member 44B are an example of multiple holding members and hold the target object 2. In this embodiment, the first holding member 44A and the second holding member 44B hold the cucumber by sandwiching it from both sides. The first holding member 44A and the second holding member 44B are arranged at a predetermined distance apart so that the cucumber can be sandwiched and held from both sides. The third holding member 44C additionally holds the cucumber to prevent the cucumber held by the first holding member 44A and the second holding member 44B from accidentally falling.

[0072] The holding member 44 is made of a flexible and elastically deformable cushioning material such as elastomer resin material or silicone rubber. The holding member 44 has an air flow path 44a inside. The holding member 44 is expandable by air supplied to the air flow path 44a.

[0073] The holding member 44 includes finger-shaped members that are configured to be bendable at multiple locations. Specifically, the holding member 44 includes a blade portion 44b and an expandable portion 44c.

[0074] In the first holding member 44A and the second holding member 44B, the blade portions 44b are arranged on opposing surfaces that face each other (in other words, the surfaces that come into contact with the object 2). In the third holding member 44C, the blade portion 44b is arranged on the same surface as the blade portion 44b of the first holding member 44A. The expansion and contraction portion 44c is provided on the outer surface opposite the blade portion 44b, and is formed in a bellows shape that can expand and contract.

[0075] The air flow path 44a is connected to an air supply mechanism 44D serving as a drive mechanism. The air supply mechanism 44D supplies air to the holding member 44 under the control of the control unit 61. The holding member 44 is curved and deformed in accordance with the amount of air inside the air flow path 44a, and the holding hand 41 opens and closes.

[0076] More specifically, the blade portions 44b and the expansion / contraction portions 44c of the retaining member 44 have different expansion / contraction behaviors. As the amount of air inside the air flow path 44a increases, the outer expansion / contraction portions 44c expand more than the inner blade portions 44b. In addition, deformation allowance grooves are formed on the surface of the blade portions 44b. The deformation allowance grooves are grooves that make it easier for the blade portions 44b to bend and deform inward.

[0077] In this way, the holding member 44 is configured to bend and deform as the expansion and contraction portions 44c expand and contract in accordance with the state of air supply into the air flow path 44a. When the amount of air inside the air flow path 44a increases, the expansion and contraction portions 44c extend and the blade portions 44b are curved and deformed so that the tips of the blade portions 44b are displaced inward.

[0078] The holding member 44 is configured to be switchable between a closed state in which the tip ends are brought close to each other to hold the object 2, and an open state in which the tip ends are moved away from each other to release the object 2. In other words, the holding member 44 is an active manipulator that is driven by the air supply mechanism 44D and operates actively.

[0079] The holding member 44 may be configured to be detachable from the base portion 43. The holding member 44 is replaceable depending on, for example, the shape and other characteristics of the object 2. By changing the size, shape, number, etc. of the holding members 44, the holding hand 41 can be configured to suit the object 2.

[0080] The second holding member 44B and the third holding member 44C are supported by the lower base 43b. Meanwhile, the first holding member 44A is connected to an air cylinder 44AS supported by the upper base 43a. The first holding member 44A can be raised and lowered in the Z direction by the air cylinder 44AS.

[0081] 9, the lower base 43b is formed in a C-shape with a portion where the air cylinder 44AS is located hollowed out to avoid mechanical interference with the air cylinder 44AS. As described above, when the second holding member 44B is also configured to be able to move up and down, the lower base 43b is also formed in a shape with a portion where the air cylinder 44AS connected to the second holding member 44B is located hollowed out to similarly avoid mechanical interference.

[0082] As a further modification, the third holding member 44C may also be configured to be able to move up and down. In this case as well, to avoid mechanical interference, the lower base 43b is formed with a hollowed-out shape, including the portion where the air cylinder 44AS connected to the third holding member 44C is located.

[0083] The pressing member 45 is disposed between the first holding member 44A and the second holding member 44B, which are arranged opposite to each other. The pressing member 45 includes a shaft portion 45a and a head portion 45b. The shaft portion 45a extends downward from the base portion 43 and is supported so as to be movable up and down in the Z direction relative to the base portion 43. The head portion 45b is provided at the tip of the shaft portion 45a.

[0084] When an upward external force is applied to the shaft 45a, the shaft 45a moves upward. When the applied external force is released, the shaft 45a returns to its initial position. In other words, the shaft 45a, which has risen due to the external force, descends to its initial position.

[0085] For example, the shaft 45a has a restoring property that allows it to return to a free state protruding toward the tip end due to gravity. Therefore, the pressing member 45 presses the object 2 that comes into contact with the tip end surface 45c of the head 45b downward (vertically downward) with a predetermined pressing force, and is also movable upward (vertically upward) by the force received from the object 2. In other words, the pressing member 45 is a passive manipulator that operates passively in response to the behavior of the object 2 that accompanies the operation of the holding member 44.

[0086] The head 45b is made of a flexible and elastically deformable buffer material such as elastomer resin, so that the object 2 is not damaged when the tip surface 45c of the pressing member 45 comes into contact with the object 2.

[0087] In a free state in which the pressing member 45 is not holding the object 2, the pressing member 45 does not protrude downward below the tip of the holding member 44. That is, in a free state in which the pressing member 45 is not holding the object 2, the tip surface 45c of the pressing member 45 is at the same position (same height) as the tip of the holding member 44 (see, for example, FIG. 7) or is located higher than the tip of the holding member 44 (see, for example, FIG. 10 described later). Note that in the initial state, the tip surface 45c of the pressing member 45 may not be at the same position as the tip of the holding member 44, but may be located lower than the tip. Depending on the type of object 2, the pressing member 45 may protrude downward below the tip of the holding member 44 in a free state in which the pressing member 45 is not holding the object 2.

[0088] The pressing member 45 presses the object 2 downward with a predetermined pressing force due to the weight of the pressing member 45. This pressing force is set to be weaker than the holding force of the holding member 44. For example, when the holding member 44 holds the object 2, the pressing force is set to such an extent that when the pressing member 45 comes into contact with and is pressed by the object 2, the pressing member 45 rises. In other words, when the object 2 is picked up by the holding hand 41, the pressing member 45 applies an appropriate force to the object 2 to stabilize the orientation of the object 2 without pushing the object 2 downward or damaging it. The pressing member 45 may further include a biasing member such as a spring that has resilience and assists the pressing force.

[0089] 10 to 12 are cross-sectional views of the holding hand 41 similar to those of FIG. 7. FIG. 10 shows the holding hand 41 holding the object 2. At the pick-up position, air is supplied into the air flow paths 44a of the holding members 44, causing the blade portions 44b of the holding members 44 to bend and deform, displacing their tips inward. This causes the first holding member 44A and the second holding member 44B to close, holding the object 2 at the pick-up position. In addition, the third holding member 44C additionally holds the object 2.

[0090] When the holding hand 41 moves near the placement portion 3a in the container 3, the air in the air flow path 44a of the third holding member 44C is sucked in, causing the blade portion 44b of the third holding member 44C to return to its initial plate shape and its tip to be displaced outward. This causes the third holding member 44C to move away from the object 2. In other words, the third holding member 44C releases its hold on the object 2. The enlarged view of FIG. 10 shows the state in which the third holding member 44C has returned to its initial state by sucking in the air in the air flow path 44a. Note that the blade portion 44b of the third holding member 44C may be returned to its initial plate shape and its tip to be displaced outward by naturally releasing (opening to the atmosphere) the air in the air flow path 44a of the third holding member 44C. In other words, hereinafter, "suction" may be interpreted as "natural release" or "opening to the atmosphere."

[0091] Fig. 11 shows a state in which the first holding member 44A has been raised by the air cylinder 44AS. As shown in Fig. 11, by raising the first holding member 44A relative to the second holding member 44B, the object 2, which has been pushed by the first holding member 44A and is in contact with the second holding member 44B, rotates around an axis extending in the horizontal direction (around the Y axis). The object 2 rotates while being pressed downward by the pressing member 45 with a predetermined pressing force, and is oriented in a predetermined direction.

[0092] 12 shows the holding hand 41 in the open state. Air is sucked out of the air flow paths 44a of the first holding member 44A and the second holding member 44B, and as shown in FIG. 12, the blade portions 44b of the first holding member 44A and the second holding member 44B return to their initial plate shapes, with their tips displacing outward. This causes the first holding member 44A and the second holding member 44B to separate from the object 2, and the object 2 falls to the placement position within the container 3.

[0093] The transfer device 40 according to this embodiment has a simple configuration, but can automatically align the orientation of the objects 2 and place them in the container 3. Therefore, the objects 2 can be packed densely in the container 3.

[0094] The above is a description of exemplary embodiments of the present disclosure. The embodiments of the present disclosure are not limited to those described above, and various modifications are possible within the scope of the technical idea of ​​the present disclosure. For example, the embodiments of the present application also include appropriate combinations of embodiments explicitly shown in the specification or obvious embodiments.

[0095] For example, in the above embodiment, the first holding member 44A is raised and lowered by the air cylinder 44AS, but the means for raising and lowering the first holding member 44A is not limited to this. In another embodiment, the first holding member 44A may be raised and lowered by another means, such as an electric cylinder or a cam mechanism.

[0096] Furthermore, the first holding member 44A may be expanded or contracted as appropriate so that the contact point between the object 2 and the first holding member 44A moves continuously and quickly in the Z direction with an extremely small stroke. By moving this contact point in the Z direction, the object 2 can be rotated. In this case, lifting means such as the air cylinder 44AS can be omitted from the components.

[0097] For example, in another embodiment, the transfer device 40 may not include the pressing member 45. Also, in another embodiment, the transfer device 40 may not include the third holding member 44C.

[0098] In the above embodiment, the orientation of the target object 2 is changed while the holding hand 41 is being moved to the vicinity of the transfer position, but in another embodiment, the orientation of the target object 2 may be changed before the holding hand 41 is moved from the pickup position or after it is moved to the vicinity of the transfer position. In other words, the orientation of the target object 2 may be changed during a period when the holding hand 41 is not moving. In this case, it is possible to more reliably prevent the target object 2 from unintentionally falling, which may occur when the orientation is changed.

[0099] A method for transferring an object 2 (cucumber) by a holding hand 41 according to a modified example of the present disclosure will be described with reference to FIG.

[0100] In this modification, the holding hand 41 holds the object 2 at the tip of each holding member 44, as in the above embodiment (see the upper diagram in FIG. 13). Next, air is sucked from the air flow path 44a of the first holding member 44A, separating only the first holding member 44A from the object 2 (see the middle diagram in FIG. 13). As a result, the object 2 rolls and falls on the second holding member 44B in accordance with the imbalance of gravity (see the lower diagram in FIG. 13). The object 2 falls to the placement position in a generally predetermined orientation in accordance with the imbalance of gravity.

[0101] In this way, in this modified example, the target object 2 can be oriented in a predetermined direction without raising or lowering the first holding member 44A. Therefore, a lifting means such as the air cylinder 44AS can be omitted from the components. In order to make it easier to rotate the target object 2, in this modified example, the second holding member 44B may be configured to be tilted so that the blade portion 44b faces diagonally upward. [Explanation of symbols]

[0102] 40:Transfer device 41: Holding hand 42: Transfer arm 43: Base part 43a: Upper base 43b: Lower base 43c: Post 44: Holding member 44A: First holding member 44AS: Air cylinder 44B: Second holding member 44C: Third holding member 44D: Air supply mechanism 44a: Air flow path 44b: Blade section 44c: Telescopic part 45: Holding member 45a:Shaft part 45b:Head 45c: Tip surface

Claims

1. A method for transferring an object from a first position to a second position, comprising: holding the object at the first position with a plurality of holding members including a first holding member and a second holding member; moving the first holding member relative to the second holding member while holding the object, so that the object in the held state is oriented in a predetermined direction; moving the plurality of holding members to the second position; releasing the object from the plurality of holding members and placing the object at the second position; Transfer method.

2. moving the first holding member relative to the second holding member during or after the movement of the plurality of holding members to the second position, instead of before the movement of the plurality of holding members to the second position, to orient the object in the predetermined orientation; The transfer method according to claim 1 .

3. By moving the first holding member relative to the second holding member, the object that is pushed by the first holding member and comes into contact with the second holding member is rolled on the second holding member, and the object is oriented in the predetermined direction. The transfer method according to claim 1 .

4. By moving the first holding member in a vertical direction relative to the second holding member, the object is rotated around an axis extending in a horizontal direction, and the object is oriented in the predetermined direction. The transfer method according to claim 3 .

5. the first holding member is moved relative to the second holding member to rotate the object on the second holding member, and when the object is released from the holding by the plurality of holding members, the object is pushed out by a push-out member to accelerate the rotation of the object. The transfer method according to claim 3 .

6. The object is further held by at least one auxiliary holding member, thereby assisting the holding of the object by the plurality of holding members. The transfer method according to claim 1 .

7. simultaneously with or after releasing the holding by the at least one holding auxiliary member, releasing the holding by the plurality of holding members and placing the object at the second position. The transfer method according to claim 6.

8. A transfer device that transfers an object from a first position to a second position, a plurality of holding members including a first holding member and a second holding member, the plurality of holding members being switchable between a closed state in which the object is held and an open state in which the object is released from its holding state; a support portion that supports the plurality of holding members movably between the first position and the second position, and moving the first holding member relative to the second holding member in the closed state to orient the held object in a predetermined direction. Transfer equipment.

9. moving the first holding member relative to the second holding member during or after the movement of the plurality of holding members to the second position, instead of before the movement of the plurality of holding members to the second position, to orient the object in the predetermined orientation; The transfer device according to claim 8.

10. By moving the first holding member relative to the second holding member, the object that is pushed by the first holding member and comes into contact with the second holding member is rolled on the second holding member, and the object is oriented in the predetermined direction. The transfer device according to claim 8.

11. By moving the first holding member in a vertical direction relative to the second holding member, the object is rotated around an axis extending in a horizontal direction, and the object is oriented in the predetermined direction. The transfer device according to claim 10.

12. the first holding member is moved relative to the second holding member to rotate the object on the second holding member, and when the object is released from the holding by the plurality of holding members, the object is pushed out by a push-out member to accelerate the rotation of the object. The transfer device according to claim 10.

13. and further comprising at least one auxiliary holding member that holds the object and thereby assists the plurality of holding members in holding the object. The transfer device according to claim 8.

14. When the object is placed at the second position, the at least one holding auxiliary member is moved away from the object, and simultaneously with or after the holding by the at least one holding auxiliary member is released, the plurality of holding members are brought into the open state. The transfer device according to claim 13.

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