Conveying device

Abstract

To provide a transport device capable of projecting sufficient information about the goods being supplied within the supply area. [Solution] The conveying device 100 has a conveying surface 101 on which an article XA1 is placed directly or indirectly, and a projection means 110 that projects information IM about the article XA1 onto the placement area Sp of the article XA1, the information IM includes at least information about the orientation of the article XA1.

Description

Technical Field

[0001] The present invention relates to a conveying device.

Background Art

[0002] Conventionally, in an apparatus for sequentially supplying articles to be packaged into a packaging material formed into a tubular shape by a bag-making machine, an apparatus capable of indicating the placement position of the articles to be packaged is known (see, for example, Patent Document 1).

[0003] The apparatus described in Patent Document 1 is provided with a laser irradiation device at a predetermined position above the article conveying and supplying device, and the laser light emitted from the laser irradiation device forms a mark having a predetermined shape (T shape) indicating the supply position on a predetermined position on an endless belt serving as the conveying surface of the articles to be packaged of the article conveying and supplying device. The mark is synchronized with the movement of the endless belt and configured to move forward at the same speed as the movement speed of the endless belt.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the conventional apparatus has a problem that the information to be drawn is not sufficient. Specifically, although the supply position can be drawn, for example, when it is necessary to supply an article in a predetermined posture (such as the up-down direction, the front-back direction, etc.), the posture cannot be drawn up to that point. Therefore, especially when supplied by an operator (manually), there is a problem that the supply is made in an incorrect posture. Also, when the article is an assembled product, although it is necessary to supply it in a predetermined assembled state (for example, stacked, sashimi-like, etc.), there is a problem that the supply is made in an incorrect assembled state.

[0006] This invention has been made in view of the above problems, and aims to provide a conveying device capable of projecting sufficient information regarding the articles to be supplied in the supply area. [Means for solving the problem]

[0007] The present invention relates to a conveying device for receiving articles from a supply area and transporting them downstream, characterized in that it comprises a conveying surface on which the articles are directly or indirectly placed, and projection means for projecting information relating to the articles onto the article placement area, wherein the information includes at least information relating to the orientation of the articles.

[0008] Furthermore, the present invention relates to a conveying device for receiving articles from a supply area and transporting them downstream, characterized in that it has a conveying surface on which the articles are placed directly or indirectly, and projection means for projecting information about the articles onto an area separate from the placement position of the articles.

[0009] Furthermore, the present invention relates to a packaging machine having the above-mentioned conveying device and a packaging material supply means for supplying packaging material, wherein a portion of the packaging material is conveyed by the conveying device, the article is supplied onto the packaging material, and the projection means projects the information onto or near the packaging material. This invention relates to a packaging machine characterized by the following features. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a conveying device that can project sufficient information regarding the articles being supplied in the supply area. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic front view showing a packaging machine according to an embodiment of the present invention. [Figure 2] This is a schematic plan view showing a transport device according to an embodiment of the present invention. [Figure 3] This is a schematic plan view showing a sealing device according to an embodiment of the present invention. [Figure 4] This is a schematic plan view showing a sealing device according to an embodiment of the present invention. [Figure 5] This is a schematic plan view showing a sealing device according to an embodiment of the present invention. [Figure 6] This is a schematic plan view showing a sealing device according to an embodiment of the present invention. [Figure 7] This figure shows a schematic of a sealing device according to an embodiment of the present invention, where (A) is a plan view and (B) is a partially enlarged view. [Modes for carrying out the invention]

[0012] The configuration of the conveying device 100 according to one embodiment of the present invention will be described below with reference to the drawings. In this drawing and subsequent drawings, some components will be omitted as appropriate to simplify the drawings. Also, in this drawing and subsequent drawings, the size, shape, thickness, etc. of the components may be exaggerated as appropriate. The conveying device 100 is used, for example, when conveying an article XA1 in a packaging machine 10. The following description will use the packaging machine 10 including the conveying device 100 of this embodiment as an example.

[0013] In this embodiment, the direction is defined as follows: the first direction in which the article XA1 is conveyed in the conveying device 100 is defined as the conveying direction T. The second direction perpendicular to the first direction in the horizontal plane is defined as the conveying width direction W, and the third direction (vertical direction) perpendicular to the first and second directions is defined as the conveying height direction H.

[0014] <First Embodiment> As shown in Figure 1, the packaging machine 10 used in this embodiment comprises a packaging machine body 11, a packaging material supply device 12 that continuously supplies a strip-shaped packaging material (for example, film) 15 to the packaging machine body 11, and a conveying device 100 positioned upstream of the packaging machine body 11. The packaging machine 10 in this embodiment is, for example, a horizontal pillow packaging machine that performs pillow packaging.

[0015] The conveying device 100 has a conveying surface 101 on which the article XA1 is directly or indirectly placed and a projection means 110, receives the article XA1 in a predetermined supply area Sin, and conveys it downstream. In the supply area Sin, an operator or a robot is arranged to place the article XA1 on the conveying surface 101 at predetermined intervals. When the article XA1 is "indirectly placed", it refers to a case where, for example, a packaging material, a tray, a bucket, etc. are conveyed on the conveying surface 101 and the article XA1 is placed thereon.

[0016] The packaging material supply device 12 links the output of a drive motor (a motor such as a servo motor capable of controlling the speed) (not shown) to the original roll 16 around which the belt-shaped packaging material 15 is wound in a roll shape, and supplies it to the packaging machine main body 11 at a constant speed while appropriately controlling the rotation speed of the original roll 16. Also, various rollers are arranged at a predetermined position from the original roll 16 to the packaging machine main body 11, and the belt-shaped packaging material 15 sent out from the original roll 16 is guided to the packaging machine main body 11 through a predetermined path by being passed over the rollers. In the present embodiment, it is not necessarily required to link a drive motor to the original roll 16, and a feed roller may be provided on the conveyance path of the packaging material to pull it out. And in the present embodiment, the packaging material supply device 12 adopts the form of a front pillow packaging machine arranged below the packaging machine main body 11, but a reverse pillow packaging machine in which the packaging material supply device 23 is arranged above the packaging machine main body may also be applicable.

[0017] The conveying device 100 is composed of, for example, a belt conveyor device including pulleys 102 arranged front and rear and an endless belt 103 that is passed over the pulleys 102 and serves as the conveying surface 101. The article XA1 placed on the conveying surface 101 (endless belt 103) moves forward as the endless belt 103 rotates.

[0018] The packaging machine main body 11 includes a bag making device 20 that forms a tubular packaging material 21 from a supplied strip-shaped packaging material 15, a belt conveyor 23 that conveys the tubular packaging material 21 disposed downstream of the bag making device 20, a center seal device 24 installed below the belt conveyor 23, an upper pressing belt 25 disposed above the belt conveyor 23 and downstream of the center seal device 24, an end seal device 30 disposed downstream of the belt conveyor 23, and a carry-out conveyor 26 disposed downstream of the end seal device 30.

[0019] The bag making device 20 passes the strip-shaped packaging material 15 continuously supplied from the packaging material supply device 12, causing the both side edge portions 15a of the strip-shaped packaging material 15 to contact (overlap) each other and forming a bag into the tubular packaging material 21. Further, the articles XA1 sequentially supplied from the conveying device 100 to the packaging machine main body 11 are inserted into the bag making device 20. As a result, the articles XA1 supplied to the bag making device 20 are arranged at predetermined intervals within the tubular packaging material 21. Also, in the present embodiment, since the packaging material supply device 12 is disposed below the packaging machine main body 11, the both side edge portions 15a of the strip-shaped packaging material 15 are located on the lower side of the tubular packaging material 21.

[0020] The center sealing device 24 seals both side edges 15a of the superimposed strip-shaped packaging material 15. In this embodiment, as the strip-shaped packaging material 15 passes through the bag-making machine 20, both side edges 15a are formed to protrude below the tubular packaging material 21. Therefore, the center sealing device 24 is installed at a predetermined position below the conveying surface of the tubular packaging material 21. This center sealing device 24 is equipped with a pair of disc-shaped center sealers 24a, and heat-seals the strip-shaped packaging material 15 by heating it while clamping both side edges 15a from both sides with a predetermined pressure using this pair of center sealers 24a. As a result, the side edges 15a are heat-sealed and integrated to form a center seal portion. Furthermore, a pinch roller 33 is provided upstream of the center sealing device 24, between it and the bag maker 20. This pinch roller 33 grips both side edges 15a of the strip-shaped packaging material 15 and applies a conveying force, stably guiding both side edges 15a to the next center sealing device 24.

[0021] The upper restraining belt 25 is positioned immediately upstream of the end sealing device 30, preventing the article XA1 inside the cylindrical packaging material 21 from being lifted upwards, and allowing it to be transported while maintaining a horizontal position.

[0022] The end sealing device 30 seals and cuts the tubular packaging material 21 in a direction perpendicular to the direction of travel, that is, in a transverse direction. The portion of the packaging material that is sealed and cut is at a predetermined position between the preceding and succeeding articles XA1. As a result, as the tubular packaging material 21 passes through the end sealing device 30, the leading portion is separated from the following portion, and the packaged body 27 is produced.

[0023] In this embodiment, the conveying device 100 has a projection means 110 provided at a predetermined position above, for example, the conveying surface 101. Here, "projection" refers to a means for displaying images (still images or moving images), and can also be called a projection means or a display means. In this embodiment, "image" can also be replaced with "picture". This projection means 110 is a means capable of projecting onto the placement area Sp on the conveying surface 101 of the article XA1, and as an example, it is a projector that projects still images or moving images onto a predetermined position on the conveying surface 101 (or on packaging material, trays, buckets, etc., if any).

[0024] The conveying device 100 (including the projection means 110) is controlled by control means (not shown). The control means consists of a CPU, RAM, and ROM, and performs various controls. The CPU is a so-called central processing unit, and various programs are executed to realize various functions. RAM is used as the CPU's workspace. ROM stores the basic OS and programs executed by the CPU. In the packaging machine 10 shown in Figure 1, a control unit (not shown) that oversees the entire packaging machine 10 may also include the control means for the conveying device 100.

[0025] The projection means 110 will be described in detail with reference to Figure 2. For example, an item XA1 may have a direction such as up, down, left, right, or front and back, and it may be necessary to place it on the transport surface 101 in a predetermined orientation when supplying it. The projection means (projector) 110 projects information IM indicating the supply orientation of the item XA1 onto the transport surface 101 (using the transport surface 101 as a screen).

[0026] Figure 2 shows an example where item XA1 is a writing instrument having a cap 502 with a clip 501, and worker Wk manually places the writing instrument from the supply area Sin to a predetermined position (placement position P0) included in the placement area Sp on the transport surface 101.

[0027] For example, item XA1 is stocked on a workbench 200 in any orientation, and worker Wk takes items XA1 one by one from the workbench 200 (supply area Sin) and places (supplies) them on the transport surface 101 at the placement position P0. Here, for example, item XA1 (writing instrument) is placed (supplied) on the transport surface 101 in an orientation where the cap 502 is located downstream in the transport direction T and the clip 501 is located far from worker Wk in the transport width direction W.

[0028] The projection means (projector) 110 projects (or displays, shows, draws, or projects) information IM indicating the supply posture (placement state, placement posture) of article XA1 onto the placement area Sp which includes at least the placement position P0, as shown by the dashed line. The information IM is, for example, an image (a video (image) or illustration of the actual object) that mimics the posture of at least a part of article XA1, and is a top (planar) view showing the state in which it is placed normally. In other words, the projection means 110 projects (projects mapping) a virtual image of the article as information IM directly onto the actual transport surface 101 (using the transport surface 101 as a screen). Here, the placement position P0 is the position where article XA1 is actually placed (the position of the image mimicking the posture of article XA1 shown by the dashed line), and the placement area Sp is the area on which the information IM is projected, which includes at least the placement position P0. The placement area Sp and the placement position P0 may coincide.

[0029] Operator Wk places the item XA1 at the placement position P0 in accordance with the information IM (image) projected by the projection means 110. This prevents errors in the supply (placement) orientation of the item XA1. For the convenience of operator Wk's preparation for supply, it is preferable that projection by the projection means 110 starts upstream of the placement area Sp. Furthermore, if the information IM displays multiple placement positions P0 along the transport surface 101, it is preferable to supply the item XA1 at multiple locations.

[0030] Here, we illustrate a case where projection is performed by multiple projection means 110, but the number of projection means 110 is not limited to this example and may be as few as one. In that case, for example, the projection means 110 may be configured to move in synchronization with the movement of the transport surface 101. Alternatively, the information IM projected by the projection means 110 may also be moved in synchronization with the movement of the transport surface 101. Furthermore, the information IM may display multiple placement positions P0 along the transport surface 101 using a single projection means 110.

[0031] By projecting an image simulating the supply position of item XA1 onto the transport surface 101 of the mounting area Sp, errors in the supply position (human error) can be avoided even when the worker Wk manually supplies item XA1.

[0032] The information IM may be an image that simulates the overall supply position of item XA1, or an image that simulates the supply position of a part of item XA1. For example, in Figure 2, if the position (orientation) of the cap 502 portion matches, the entire placement of item XA1 is considered normal, in which case the projection means 110 may project an image of only the cap 502 portion as the information IM.

[0033] Figure 3 shows another example of item XA1. Item XA1 may be a collection of multiple packaged items, and the information IM projected by the projection means 110 may indicate the collection state of the collection, such as the number of layers in a stack or the number of items stacked horizontally (parallel), or the orientation of the collection (e.g., stacked or sashimi-like). In the case of a collection, the collection state is specified. In such cases, manual handling by worker Wk increases the risk of supplying items in an incorrect orientation (collection).

[0034] The projection means 110 projects an image onto the placement area Sp that simulates the supply posture, including the stacked state of the item XA1 (stacked item). This makes it possible to avoid errors (human errors) in the supply posture (stacked state) even when the worker Wk manually supplies the item XA1.

[0035] Referring to Figure 4, another example will be described. In the above embodiment, the case in which worker Wk manually supplies the item XA1 was described, but the same can be done when the item is supplied by a robot R. In this case, for example, the conveying device 100 includes a discharge means 310 for discharging the item XA1 if the stacking state is incorrect, and an imaging means (camera) 311 capable of imaging the placement state of the item XA1.

[0036] Furthermore, even when worker Wk manually supplies the item XA1, the system may also be equipped with a discharge means 310 and an imaging means (camera) 311.

[0037] Robot R holds item XA1 and supplies it to placement position P0. Imaging means 311 photographs the placed item XA1 and compares it with information IM projected by projection means 110 through image judgment. If it is determined that the orientation (accumulated state) does not match the projected image, it is discharged to the outside from the conveying device 100 afterward (before bag making). In this case, for example, it is discharged to the outside by discharge means such as a damper or air jet. This prevents bag making from occurring in an incorrect supply orientation, even if the holding orientation of item XA1 held by robot R is incorrect.

[0038] Furthermore, if the robot R supplies the item XA1 based on the information IM projected by the projection means 110, robot teaching becomes unnecessary.

[0039] Furthermore, although not shown in the illustration, the information IM projected by the projection means 110 is not limited to, for example, a top-view image showing a normal placement state, but may also be a stereoscopic image as seen from the perspective of an operator Wk or robot R viewing the item XA1 being supplied to the supply area Sin. In particular, when an operator Wk supplies the item XA1, the operator Wk generally supplies the item XA1 from the side of the transport device 100 (for example, the outside in the transport width direction W). In this case, when the operator Wk views the item XA1 from their actual line of sight, it is perceived not as information from a top-view perspective directly above in the transport height direction H, but as information from a stereoscopic view from diagonally above. In such cases, the projection means 110 can project an image onto the transport surface 101 that mimics the supply posture of the item XA1 as a stereoscopic image from the operator Wk's line of sight, enabling more accurate (realistic) supply. In this case as well, a stereoscopic image mimicking only a part of the item XA1, rather than the whole, may be projected.

[0040] As described above, the projection means 110 projects information IM onto the placement area Sp of the item XA1, and the worker Wk or robot R supplies the item XA1 so as to overlap the information IM. In this way, errors in the supply orientation and stacking state of the item XA1 can be avoided.

[0041] <Second Embodiment> Next, a second embodiment will be described. In the second embodiment, the projection means 110 projects information IM about article XA1 to a region separate from the placement position P0 of article XA1.

[0042] Referring to Figure 5, the projection means 110 displays information IM near the hands of the worker Wk in the supply area Sin. The worker Wk supplies the item XA1 to the placement position P0 on the transport surface 101 while checking the information IM. The information IM is not limited to an image that simulates the supply state of the item XA1, but may also include text information in place of or in addition to the image. For example, the text information may include instructions on the supply method or warnings to be taken during supply, such as "Arrange from left to right" or "Caution: Impact".

[0043] Furthermore, in addition to the above, the projection means 110 may project an image resembling the article XA1 or information indicating the placement position P0 onto the placement position P0 of the article XA1, similar to the first embodiment, as information IM.

[0044] Figure 6 shows yet another example. The information IM that the projection means 110 projects onto an area other than the placement position P0, such as on the transport surface 101, may be, for example, a barcode (one-dimensional barcode, two-dimensional barcode, three-dimensional barcode, etc.). The barcode may include, for example, information guiding the supply orientation, position, and supply method of the item XA1, or information prompting caution during supply.

[0045] The robot R reads the information IM (barcode) projected by the projection means 110 and supplies the item XA1 based on that information. In this case, the information IM can also be considered the control information of the robot R. Since barcodes can contain less information than image data, for example, when the robot R supplies item XA1 (a collection of items), it can handle high-speed operations.

[0046] Figure 7 shows yet another example. The image projected by the projection means 110 may be an AR (Augmented Reality) image. Figure (A) is a schematic top view of the transport device 100, and Figure (B) is an example of the screen display of the tablet terminal 120.

[0047] In this case, the transport device 100 includes a display means (monitor) 120. The display means 120 is, for example, a tablet terminal having a display unit 121. The projection means 110 is also included in, for example, the tablet terminal 120. As shown in Figure 7(B), the transport device 100 (control means) captures the actual transport surface 101 with an imaging means (camera) such as the tablet terminal 120, analyzes the image and spatial information, displays the image of the transport surface 101 (live view image Lv shown by a solid line) on the display unit 121, and adds digital information IM superimposed on the live view image Lv by the projection means 110.

[0048] As shown in Figure 7(A), worker Wk supplies item XA1 to the placement position P0 on the transport surface 101 while viewing the AR image (an image with information IM added to the live view image Lv of the actual transport surface 101) on the tablet terminal 120 in their hand. When worker Wk supplies item XA1, the item XA1 is displayed on the live view image Lv, and it is possible to determine whether it matches or does not match the information IM. In this case, although not shown in the figure, other projection means may be provided, for example, above the transport surface 101, and other information IM indicating the placement position P0 may be projected.

[0049] In this case, the AR technology is, for example, a markerless vision-based AR that analyzes video (images) and spatial information acquired by an imaging device to recognize space and objects and display content. However, it may also be a marker-type vision-based AR that reads images or two-dimensional barcodes to display content. Furthermore, it may be a location-based AR that displays AR in conjunction with information acquired from GPS or the accelerometer of a smartphone. In addition, a wearable device (for example, AR glasses (goggles)) may be used instead of the tablet terminal 120.

[0050] Furthermore, although not shown in the diagram, if the conveying surface 101 of the belt conveyor 23 is plain, it becomes difficult to determine the placement position P0. Therefore, it is preferable to use a conveying surface 101 of the belt conveyor 23 that has a pattern, such as a random pattern, so that the placement position P0 can be determined.

[0051] Furthermore, the image projected by the projection means 110 may be an MR (Mixed Reality) image that superimposes the coordinate spaces of the real world and the virtual world. In this case, a wearable device (such as a see-through head-mounted display, a VR (Virtual Reality) headset with a camera, AR glasses (goggles), or MR glasses (goggles)) may be used instead of the tablet terminal 120 described above. For example, when multiple workers Wk or a robot R collaborate to supply items XA1, the camera of the MR glasses may detect the items XA1 on the transport surface 101 and display information IM (image) of the items XA1 at locations where supply is needed, excluding items XA1 that have already been supplied upstream. In this way, the information IM displayed on the display unit of the wearable device worn by each worker Wk may be different depending on the items XA1 or group of items on the transport surface 101.

[0052] Furthermore, MR glasses may be used for inspecting defective items of item XA1. In this case, the MR glasses should determine whether item XA1 is good or bad based on images taken by the camera built into the MR glasses of item XA1 or group of items already placed on the transport surface 101, or item XA1 that is about to be placed (item XA1 held by worker Wk or item XA1 that worker Wk is about to hold). For defective items, the information IM displayed on the display unit of the MR glasses should be overlaid on the defective item so that it can be identified as a defective item.

[0053] Furthermore, although not shown in the diagram, in cases where a set of stacked items is formed by passing through multiple supply areas Sin during transport, for example, the projection means 110 may project (projection mapping) the information IM of the newly stacked item XA1 onto the item XA1 placed on the upstream side.

[0054] The above embodiments may be combined one or more as appropriate.

[0055] Furthermore, the image projected by the projection means 110 can be switched at any time. For example, if the supply state of item XA1 changes at a predetermined time (for example, if the position of the cap 502 of the writing instrument shown in Figure 2 alternates between downstream and upstream, or if the number of stacked items changes), the projected information IM is switched at an appropriate time.

[0056] In the above embodiment, the case in which the conveying device 100 is used in a horizontal pillow packaging machine 10 has been described, but the embodiment is not limited to this. The conveying device 100 in this embodiment may be, for example, a means for conveying article XA1 in a transfer device, or a means for conveying article XA1 in a boxing device, deep-draw packaging machine, etc.

[0057] Furthermore, the projection means 110 is not limited to a configuration that directly projects the information IM onto the transport surface 101, but may also be configured to project the information IM onto packaging material or trays on the transport surface 101. For example, a configuration that projects the information IM onto packaging material on the transport surface 101 can be applied to a packaging machine that directly supplies the packaged items onto a transported strip of film.

[0058] As stated above, the present invention is not limited to the embodiments described above, and various modifications are possible without departing from its spirit and technical concept. [Explanation of symbols]

[0059] 10 Packaging machine 11 Packaging machine body 12 Packaging material supply device 15 Strip-shaped packaging material 16 rolls of raw material 20 Bag making machine 21. Cylindrical packaging material 23 Belt conveyor 100 Conveying device 101 Conveying surface 103 Endless Belt 110 Projection means 120 tablet devices 200 workbenches 310 Means of ejection 311 Imaging means (camera) IM Information P0 Placement Position Sp mounting area Sin supply area Wk Worker XA1 Goods

Claims

1. A conveying device that receives goods from a supply area and transports them downstream, A transport surface on which the article is placed directly or indirectly, The system includes projection means for projecting information about the article onto the area where the article is placed, The information includes at least information relating to the orientation of the article, A conveying device characterized by the following features.

2. A conveying device that receives goods from a supply area and transports them downstream, A transport surface on which the article is placed directly or indirectly, The system includes projection means for projecting information about the article onto an area separate from the placement position of the article. A conveying device characterized by the following features.

3. The aforementioned information is information indicating the supply position of the article. The conveying device according to claim 1 or 2.

4. The aforementioned articles are aggregated items, The aforementioned information is information indicating the stacking status of the stacked items. The conveying device according to claim 1 or 2.

5. The aforementioned information is information relating to the supply location of the article. The conveying device according to claim 1 or 2.

6. The aforementioned information is an image that imitates at least a part of the aforementioned article. The conveying device according to claim 1 or 2.

7. The information is a stereoscopic image that simulates at least a part of the supply condition of the article. The conveying device according to claim 1 or 2.

8. The aforementioned information is text information and / or barcode information. The conveying device according to claim 1 or 2.

9. A conveying device according to any one of claims 1 to 8, A packaging machine having a packaging material supply means for supplying packaging material, A portion of the packaging material is transported by the transport device. The article is supplied onto the packaging material, The projection means projects the information onto or near the packaging material. A packaging machine characterized by the following features.

Images