Transport device and transport system

Abstract

To provide a transfer device capable of changing the arrangement of an adsorption part after adsorbing a body to be transferred, and to provide a transfer system thereof.SOLUTION: A transfer device comprises: a plurality of adsorption parts each for adsorbing a body to be transferred; a support part for supporting the plurality of adsorption parts; and a transfer part for transferring the body to be transferred, that is adsorbed by each of the plurality of adsorption parts. The support part comprises a deformation part capable of changing the arrangement of the adsorption parts. At least one of the adsorption parts is attached to the deformation part.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present application relates to a transfer device and a transfer system. [Background technology]

[0002] Conventionally, a transfer device is known that includes a plurality of suction parts that suction the object to be transferred, a support part that supports the plurality of suction parts, and a transfer part that transfers the object to be transferred that has been suctioned by the suction parts (for example, Patent Document 1). However, such a transfer device has a problem in that the position of the suction parts cannot be changed after the object to be transferred has been suctioned. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP2018-177325A Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, an object of the present invention is to provide a transfer device and a transfer system that can change the position of the suction part after suctioning the transferred object. [Means for solving the problem]

[0005] The transfer device comprises a plurality of suction sections which adsorb the transferred object, a support section which supports the plurality of suction sections, and a transfer section which transfers the transferred object adsorbed by the suction sections, the support section having a deformation section which is capable of changing the position of the suction sections, and at least one of the suction sections is attached to the deformation section.

[0006] According to this configuration, the transfer device can change the position of the suction part after suctioning the object to be transferred.

[0007] The transfer system includes a transfer section that transfers the object to be transferred and the transfer device.

[0008] According to this configuration, the transfer system can change the position of the suction part after suctioning the object transferred by the transport part. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic top view showing a transfer system according to the present embodiment. [Diagram 2] FIG. 2 is a right side view showing the transfer device according to the present embodiment. [Diagram 3] FIG. 3 is a right side view showing the operation of the transfer device according to this embodiment. [Figure 4] FIG. 4 is a top view showing a loading method 1 for loading objects to be transported into a transport case. [Diagram 5] FIG. 5 is a top view showing a loading method 2 for loading objects to be transported into a transport case. [Figure 6] FIG. 6 is a top view showing a loading method 3 for loading objects to be transported into a transport case. [Figure 7] FIG. 7 is a right side view showing a transfer device according to another embodiment. [Figure 8] FIG. 8 is a right side view showing the operation of a transfer device according to another embodiment. [Figure 9] FIG. 9 is a top view showing a transfer device according to yet another embodiment. [Figure 10] FIG. 10 is a top view showing the operation of a transfer device according to still another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, one embodiment of the transfer system will be described with reference to Figures 1 to 6. Note that in each figure (as well as Figures 7 to 10), the dimensional ratios in the drawings do not necessarily match the actual dimensional ratios, and the dimensional ratios between the drawings do not necessarily match either.

[0011] As shown in Figure 1, the transfer system 1 of this embodiment includes a first conveying section 3 that conveys the object 2, a second conveying section 5 that conveys a transport case 4 that contains the object 2, and a transfer device 6 that conveys the object 2.

[0012] The object to be transferred 2 is a general egg container filled with eggs, but is not limited thereto and may be, for example, agricultural products (e.g., apples). The egg container may have a flat lid or an uneven shape that conforms to the shape of the eggs. The egg container may hold 4, 6, 10, or 12 eggs. Furthermore, the egg container may be a container that can accommodate any size of eggs, from SS size to LL size.

[0013] The first transport section 3 is a belt conveyor, and includes a conveyor belt 31 that transports the object 2 from front to rear (in the direction of the arrow in FIG. 1), and a first stopping device 32 that stops the object 2 on the conveyor belt 31. However, the first transport section 3 is not limited to this, and may be, for example, a chain conveyor or a roller conveyor.

[0014] The first stop device 32 can stop the transport of the transported object 2 on the conveyor belt 31. This allows the first stop device 32 to stop the transported object 2 appropriately in accordance with the transport capacity of the transport device 6. In addition, the first stop device 32 can, for example, arbitrarily space the transported objects 2, 2 on the conveyor belt 31. Note that the first stop device 32 may be, for example, the stop device shown in FIG. 15 of JP 2018-177524 A.

[0015] The transport case 4 is a box with an open top, and may be, for example, a box made of plastic or cardboard, or may be a rack whose top can be opened by folding each stage. The transport case 4 may be, for example, rectangular or square in top view.

[0016] The second conveying section 5 includes a conveying path 51 that conveys the transport case 4 from right to left (the direction of the arrow in FIG. 1 ), and a second stopping device 52 that stops the transport case 4 on the conveying path 51. The conveying path 51 may be a belt conveyor, a chain conveyor, or a roller conveyor, and may directly convey the object 2 to be conveyed. The second stopping device 52 stops the transport case 4 at a position where the object 2 to be conveyed is to be conveyed by the conveying device 6.

[0017] 1 and 2, the transfer device 6 includes a plurality of (two or more) suction units 7 that suction the object 2 to be transferred, a support unit 8 that supports the plurality of suction units 7, and a transfer unit 9 that transfers the object 2 suctioned by the suction units 7 from the first conveying unit 3 to the transport case 4. The transfer device 6 according to this embodiment includes five suction units 7 arranged in a row in the front-rear direction, but is not limited to this. For example, the transfer device 6 may include six suction units 7 arranged in a row in the front-rear direction, or may be arranged in two rows in the front-rear direction.

[0018] The suction part 7 includes a plurality of suction pads 71 ​​that suction-attach the transferred object 2, an suction part body 72 to which the plurality of suction pads 71 ​​are attached, and suction means (not shown). Here, the suction part 7 and the suction part body 72 that are moved by a deformation part 83 described later are referred to as a movable suction part 7M and a movable suction part body 72M, respectively.

[0019] The suction means according to the present embodiment is a vacuum pump, but is not limited thereto. For example, the suction means may be a vacuum ejector. The vacuum pump is connected to the suction unit body 72 via a tube. Note that there may be one or more vacuum pumps for the multiple suction units 7.

[0020] The suction pad 71 includes a suction cup portion 71a made of silicone rubber and an insertion portion 71b to be inserted into an insertion hole described later. With this configuration, even if the suction surface of the object to be transferred 2 is curved or stepped, the suction cup portion 71a can suction the object to be transferred 2 by appropriately deforming with respect to the suction surface of the object to be transferred 2. Six suction pads 71 ​​(2 (front-rear direction) x 3 (left-right direction)) are arranged on the lower part of the suction portion main body 72. However, the number of suction pads 71 ​​is not limited to this, and for example, the number of suction pads 71 ​​may be appropriately selected depending on the size of the object to be transferred 2.

[0021] The suction unit main body 72 is substantially rectangular parallelepiped and includes a plurality of connection parts 72a at the top that connect to the suction means, a plurality of insertion holes (not shown) at the bottom into which the plurality of suction pads 71 ​​are inserted, and a plurality of suction paths (not shown) inside that connect the holes of the connection parts 72a to the plurality of insertion holes. The connection parts 72a according to this embodiment are arranged in two on the left and right of the first support part 81 described later, and three suction paths connected to the three insertion holes are provided for one connection part 72a, but are not limited to this.

[0022] The support portion 8 comprises a first support portion 81 that supports multiple adsorption portions 7, a second support portion 82 that is attached to the transport portion 9, and a deformation portion 83 that is capable of moving the position of an adsorption portion 7 (movable adsorption portion 7M) arranged at one of the ends of the row.

[0023] The first support part 81 is substantially rectangular, and a plurality of suction part bodies 72 are attached to the lower part in a line in the front-rear direction. The first support part 81 according to the present embodiment is attached with four suction part bodies 72 at the front, where the positions of the suction parts 7 do not change due to the deformation parts 83, but is not limited thereto.

[0024] The second support section 82 includes rectangular plate members 82a, 82a arranged above and below, and four cylindrical support columns 82b arranged at the four corners between the plate members 82a, 82a. In the second support section 82, the first support section 81 is attached to the lower plate member 82a, and the transfer section 9 is attached to the upper plate member 82a.

[0025] The deformation portion 83 comprises a power unit 83a capable of moving the position of the suction portion 7 in the row direction (front-to-back direction) of the suction portion 7, a pair of support plates 83b, 83b with an L-shaped cross section that support the power unit 83a at the front and rear, a connecting portion 83c that connects the power unit 83a to an suction portion main body 72 (movable suction portion main body 72M) arranged at one of the ends of the row, a guide portion 83d that guides the movement of the suction portion 7, and a box-shaped guide cover portion 83e that covers the guide portion 83d.

[0026] According to this configuration, the deformation section 83 can move the position of the movable adsorption section 7M in the row direction (front-rear direction) after adsorbing the transferred object 2 (see FIG. 3). This allows, for example, the transfer device 6 to reduce the number of times the transferred object 2 is transferred, and can efficiently accommodate various stacking methods (for example, providing any interval between the transferred objects 2) in the transport case 4. In addition, for example, the deformation section 83 can adjust the interval between the transferred objects 2 between Lmin and Lmax (see FIGS. 2 and 3).

[0027] The deformation unit 83 according to this embodiment connects the suction unit 7 (movable suction unit 7M) arranged at the rear end of the row to the connection unit 83c, but is not limited to this. For example, the deformation unit 83 may connect the suction unit 7 (movable suction unit 7M) arranged at the front end of the row to the connection unit 83c. Furthermore, the power unit 83a according to this embodiment is an air cylinder, but is not limited to this. For example, the power unit 83a may be an electric actuator.

[0028] The connecting part 83c includes a connecting plate 831c having an L-shaped cross section that moves together with the operating part 831a of the power part 83a, a fixing part 832c that fixes the connecting plate 831c to the operating part 831a, and a plurality of cylindrical connecting pillars 833c that connect the connecting plate 831c and the movable attraction part main body 72M. Two connecting pillars 833c according to this embodiment are arranged on each of the left and right sides of the first support part 81.

[0029] The guide portion 83d is a linear guide, and is attached to the guide cover portion 83e and the connecting plate 831c in the front-rear direction. The guide cover portion 83e is attached to the first support portion 81. With this configuration, the deformation portion 83 can smoothly move the movable adhesion portion 7M in the front-rear direction. This improves, for example, the operating accuracy of the movable adhesion portion 7M by the deformation portion 83.

[0030] The transfer unit 9 is a robot arm having six degrees of freedom, and transfers the object 2 adsorbed by the suction unit 7 from the first conveying unit 3 to the transport case 4. However, without being limited thereto, the transfer unit 9 may transfer the object 2 adsorbed by the suction unit 7 from the first conveying unit 3 to above the second conveying unit 5.

[0031] Next, a method for loading the objects 2 in the transport case 4 will be described. The objects 2 used in the description are flat-type egg containers. The transport case 4 is a rack with four shelves on which egg containers can be loaded, and can load 56 packs of egg containers (14 packs x 4 shelves, 224 packs) per shelf. The operations of transferring the objects 2 from the first conveying section 3 to the transport case 4 by the transfer device 6, loading the objects 2 on the transport case 4, and returning the suction section 7 of the transfer device 6 to above the first conveying section 3 constitute one process.

[0032] (Loading method 1) As shown in Fig. 4, in loading method 1, one layer (14 packs) of the objects 2 to be transported is loaded onto the transport case 4 in six steps. In loading method 1, 96 steps (6 steps x 4 layers x 4 shelves) are required to load four layers of the objects 2 onto all four shelves of the transport case 4. Specifically, the objects 2 to be transported are loaded onto the transport case 4 in the following order. Note that in Fig. 4 (also in Figs. 5 and 6), the objects 2 to be transported to be loaded in each step are indicated by two-dot chain lines. (1) Three packs of transported objects 2 are loaded onto the right rear side of the transport case 4 with the longitudinal direction of the objects 2 as the front-to-rear direction. (2) Three packs of transported objects 2 are loaded onto the left rear side of the transport case 4 with the longitudinal direction of the objects 2 being the front-to-rear direction. (3) Three packs of transported objects 2 are loaded onto the right front side of the transport case 4 with the longitudinal direction of the objects 2 being the front-rear direction. (4) Three packs of transported objects 2 are loaded onto the left front side of the transport case 4 with the longitudinal direction of the objects 2 being the front-rear direction. (5) One pack of the objects 2 is loaded between the objects 2 in the center of the right side of the transport case 4 with the longitudinal direction of the objects 2 aligned left and right. (6) One pack of the objects 2 is loaded between the objects 2 in the center of the left side of the transport case 4 with the longitudinal direction of the objects 2 aligned left and right.

[0033] (Loading method 2) 5, in loading method 2, one layer of the objects 2 to be transported is loaded onto the transport case 4 in four steps. In loading method 2, 4 steps x 4 layers x 4 shelves, or 64 steps, are required to load four layers of the objects 2 onto all four shelves of the transport case 4. Specifically, the objects 2 to be transported are loaded onto the transport case 4 in the following order: In steps (1) to (3), the transport object 2 is loaded into the transport case 4 in the same manner as in the loading method 1. (4) With five packs of objects 2 adsorbed to the suction unit 7 (see Figs. 1 to 3), three packs are loaded on the left front side of the transport case 4 with the longitudinal direction of the objects 2 as the front-to-rear direction. Then, the objects 2 are rotated 90 degrees by the transport unit 9 (see Figs. 1 to 3), and one of the remaining two packs is loaded between the objects 2 at the center of the right side and the center of the left side of the transport case 4 with the longitudinal direction of the objects 2 as the left-to-right direction.

[0034] (Loading method 3) As shown in Fig. 6, in loading method 3, one layer of the objects 2 to be transported is loaded onto the transport case 4 in three steps. In loading method 3, 48 steps (3 steps x 4 layers x 4 shelves) are required to load four layers onto all four shelves of the transport case 4. Specifically, the objects 2 to be transported are loaded onto the transport case 4 in the following order. (1) Four packs of transported objects 2 are loaded onto the right rear side of the transport case 4 with the longitudinal direction of the objects 2 being the front-to-rear direction. (2) With five packs of objects 2 adsorbed to the adsorption section 7, two packs are loaded on the left rear side of the transport case 4 with the longitudinal direction of the objects 2 as the front-to-rear direction. Then, the remaining three packs are loaded on the right front side of the transport case 4 with the longitudinal direction of the objects 2 as the front-to-rear direction. (3) Load the transported object 2 into the transport case 4 in the same manner as in step (4) of loading method 2.

[0035] By using divided transfer in which the loading timing of each of the objects 2 adsorbed to the adsorption section 7 is staggered, as in step (4) of loading method 2 and steps (2) and (3) of loading method 3, the number of steps can be reduced (loading method 3 has half the number of steps of loading method 1). This improves the processing capacity of the transfer system 1 that transfers the objects 2 to the transport case 4. In addition, by combining this with position adjustment of the objects 2 by the deformation section 83, the processing capacity of the transfer system 1 can be further improved.

[0036] As described above, the transfer device 6 of this embodiment comprises a plurality of adsorption sections 7 that adsorb the transferred object 2, a support section 8 that supports the plurality of adsorption sections 7, and a transfer section 9 that transfers the transferred object 2 adsorbed by the adsorption sections 7, and the support section 8 comprises a deformation section 83 that can change the position of the adsorption sections 7, and at least one or more adsorption sections 7 (movable adsorption sections 7M) are attached to the deformation section 83.

[0037] According to such a configuration, the transfer device 6 can change the position of the suction portion 7 after suctioning the object 2 to be transferred.

[0038] In addition, the transfer device 6 according to this embodiment is configured such that the multiple adsorption portions 7 are attached in a row to the support portion 8, and the deformation portion 83 can move the position of the adsorption portion 7 (movable adsorption portion 7M) in the row direction.

[0039] According to this configuration, the transfer device 6 can move the position of the movable suction portion 7M in the row direction (front-rear direction) after suctioning the transferred object 2.

[0040] In addition, in the transfer device 6 of this embodiment, the deformation section 83 is configured to include a power section 83a that is capable of moving the position of the suction section 7 (movable suction section 7M) in the row direction (front-to-back direction), and a connecting section 83c that connects the suction section 7 (movable suction section 7M) arranged at one of the ends of the row to the power section 83a.

[0041] According to this configuration, the transfer device 6 can move the position of the movable suction portion 7M in the row direction (front-rear direction) after suctioning the transferred object 2.

[0042] Furthermore, the transfer device 6 of this embodiment may be configured such that the deformation section 83 includes at least one power section 83a capable of moving the position of the suction section 7 in the row direction (front-back direction), and connecting sections 83c that connect two adjacent suction sections 7 (movable suction sections 7M) at one end of the row to the power section 83a.

[0043] According to this configuration, after the transfer device 6 has adsorbed the transferred object 2, it can move the positions of two adjacent movable adsorption parts 7M at one end of the row in the row direction (front-rear direction).

[0044] The transfer system 1 according to this embodiment is configured to include a transfer section (first transfer section 3) that transfers the object 2 to be transferred, and a transfer device 6.

[0045] According to this configuration, the transfer system 1 can change the position of the suction unit 7 after suctioning the transferred object 2 transferred by the first transfer unit 3.

[0046] The transfer device 6 and the transfer system 1 are not limited to the configurations of the above-mentioned embodiments, and are not limited to the above-mentioned effects. Of course, the transfer device 6 and the transfer system 1 can be modified in various ways without departing from the scope of the present application. For example, it is of course possible to arbitrarily select one or more of the configurations, methods, etc. of the various modified examples described below and adopt them in the configurations, methods, etc. of the above-mentioned embodiments.

[0047] (1) In the transfer device 6 according to the above embodiment, the support unit 8 is configured to include a deformation unit 83 capable of moving the position of the adsorption unit 7 (movable adsorption unit 7M) arranged at one end of the row. However, the present invention is not limited to this configuration, and for example, as shown in Fig. 7, the support unit 8 may be configured to include a deformation unit 83 capable of moving the positions of two adjacent adsorption units 7 (movable adsorption units 7M) at one end of the row.

[0048] In such a configuration, the connecting portion 83c includes a first connecting plate 834c and a second connecting plate 835c with an L-shaped cross section that operate together with the operating portion 831a, a fixing portion 832c that fixes the first connecting plate 834c and the second connecting plate 835c to the operating portion 831a, a plurality of connecting columns 833c that connect the first connecting plate 834c and the second connecting plate 835c to the two movable suction portion main bodies 72M, 72M, and a plurality of third connecting plates 836c that connect the two movable suction portion main bodies 72M, 72M to each other.

[0049] According to this configuration, the deformation section 83 can change the positions of the two movable adsorption sections 7M in the row direction (front-rear direction) after adsorbing the transferred object 2 (see FIG. 8). This allows, for example, the transfer device 6 to reduce the number of times the transferred object 2 is transferred, and can efficiently accommodate various stacking methods (for example, providing any interval between the transferred objects 2) in the transport case 4 (see FIG. 1). In addition, for example, the deformation section 83 can adjust the interval between the transferred objects 2 between Lmin and Lmax (see FIGS. 7 and 8).

[0050] In this configuration, the first connecting plate 834c is disposed rearward and is connected to the suction portion main body 72 via a connecting pillar 833c. The second connecting plate 835c is disposed in front of the first connecting plate 834c and is connected to the suction portion main body 72 via the connecting pillar 833c. Three connecting pillars 833c are disposed on each side of the first support portion 81. The third connecting plate 836c is substantially O-shaped in top view and is disposed on the left and right of the first support portion 81.

[0051] (2) In the transfer device 6 according to the above embodiment, the transfer device 6 includes five suction units 7, and the deformation unit 83 includes a power unit 83a capable of moving the position of the suction unit 7 (movable suction unit 7M) arranged at one end of the row in the row direction (front-rear direction). However, the present invention is not limited to this configuration, and may include, for example, as shown in Fig. 9, the transfer device 6 includes six suction units 7, and the deformation unit 83 includes a power unit 83a capable of rotating three suction units 7 (movable suction units 7M) to change the arrangement of the suction units 7 from one row to two rows.

[0052] In such a configuration, the power unit 83a is, for example, a stamping motor, and is arranged to the right of the suction unit 7. With such a configuration, the deformation unit 83 can change the arrangement of the suction units 7 from one row to two rows (see FIG. 10). As a result, even if the object 2 (see FIG. 1) cannot be transferred to the transport case 4 (see FIG. 1) when the suction units 7 are arranged in a single row, the object 2 can be transferred to the transport case 4 by changing the arrangement of the suction units 7 to two rows.

[0053] (3) In the transfer device 6 according to the above embodiment, the deformation unit 83 is configured to include one power unit 83a. However, the present invention is not limited to this configuration, and the deformation unit 83 may be configured to include, for example, a plurality of power units 83a. [Explanation of symbols]

[0054] 1: transfer system, 2: object to be transferred, 3: first transfer section, 31: conveyor belt, 32: first stopping device, 4: transport case, 5: second transfer section, 51: transfer path, 52: second stopping device, 6: transfer device, 7: suction section, 71: suction pad, 71a: suction cup section, 71b: insertion section, 72: suction section main body, 72a: connection section, 8: support section, 81: first support section, 82: second support section, 82a: plate member, 82b: support column, 83: deformation section, 83a: power section, 831a: operating section, 83b: support plate, 83c: connection section, 831c: connection plate, 832c: fixing section, 833c: connection column, 834c: first connection plate, 835c: second connection plate, 836c: third connection plate, 83d: guide section, 9: transfer section

Claims

1. A plurality of suction parts for suctioning a plurality of objects to be transferred, which are egg containers; A support portion that supports the plurality of adsorption portions; a transfer unit that transfers the plurality of objects to be transferred that are adsorbed by the plurality of adsorption units, the support portion includes a deformation portion capable of changing the arrangement of only less than half of the plurality of suction portions, Less than half of the plurality of suction portions are attached to the deformation portion, At least half of the plurality of suction portions are supported by the support portion so that their positions cannot be changed; The plurality of suction portions are attached to the support portion in a row, A transfer device, wherein the deformation portion is capable of moving the position of the suction portion in the column direction.

2. The transfer device according to claim 1 , wherein the deformation portion comprises a power portion capable of moving the position of the suction portion in the row direction, and a connecting portion connecting the suction portion arranged at one end of the row to the power portion.

3. The transfer device according to claim 1, wherein the deformation section comprises at least one power section capable of moving the position of the suction section in the row direction, and a connecting section that connects each of two adjacent suction sections and the power section at one end of the row.

4. A conveying unit that conveys the object to be conveyed; A transfer system comprising: a transfer device according to any one of claims 1 to 3.

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