Packaging transfer device and packaging delivery method

Abstract

To realize stable processing by a processing part by restraining swinging of a package at delivering to the processing part such as a measuring device.SOLUTION: A conveying device for conveying a package along a conveying path while holding it individually comprises: a plurality of movable elements which are arranged in a direction of the conveying path and can move in the direction of the conveying path; and a pair of grippers which hold end parts on both sides of the package and are supported by the adjoining movable elements, respectively. In a delivery place between the conveying device and a processing part for performing processing on the package, the package is supported from above in a vertical direction by the processing part, and, by opening the pair of respective grippers and making the pair of grippers retreat to both sides with respect to the package by movement of the movable elements in the directions moving away from each other, the package is separated from the pair of grippers, and, when the processing is completed, the pair of grippers are made to approach the package by movement of the movable elements in the directions approaching each other, and the grippers are closed respectively to hold the package, and then the movable elements move in the direction of the conveying path.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to an apparatus capable of gripping and conveying a package such as a pouch and delivering it to a processing unit such as a weighing device, and a method of delivering a package between a gripper of a conveying device and a processing unit.

Background Art

[0002] For example, products with packages such as pouches (pouch packaging) and bags are manufactured through processes such as filling the contents, sealing the package, and inspecting by weighing while the package is being conveyed. In a production line of such products with packages, for example, as shown in Patent Document 1, a conveying device is adopted that moves a plurality of moving elements with grippers for gripping a package along a circular orbit by electromagnetic action.

[0003] During weighing, the package is transferred from a pair of grippers of the conveying device that grip both ends of the pouch to the grippers of the weighing device. When the package is supported by a suction tool or the like of the weighing device, the grippers of the conveying device open, and the package is pulled out from the grippers of the conveying device. Then, since the package separates from the grippers of the conveying device, the weight of the package is measured in a state where the package is in contact only with the grippers of the weighing device. After weighing, the package is returned from the weighing device to the grippers of the conveying device.

[0004] Patent Document 2 discloses a packaging machine that grips a bag on each of a plurality of grippers provided at predetermined intervals on the peripheral edge of a rotating table, and sequentially performs processes of powder input, weighing, re-input and re-weighing, and sealing of the bag as the rotating table rotates. During weighing, the bag is transferred from a main gripper provided on the rotating table and gripping both sides of the bag to a first gripper of a weighing device disposed above the main gripper and a second gripper of the weighing device disposed below the main gripper.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] When the package is pulled out from the gripper of the conveying device during the weighing inspection, the package shakes together with the contents, making it difficult to weigh stably. Since it is necessary to wait until the shaking of the package subsides, the weighing process takes time. Even when the package is transferred from the main gripper to the first gripper and the second gripper of the weighing device as in Patent Document 2, there is a risk that the package will shake when the first gripper and the second gripper come into contact with both sides of the package, making it difficult to weigh stably.

[0007] As described above, an object of the present disclosure is to provide a package conveying device and a package transfer method capable of realizing stable processing by a processing unit by suppressing shaking of a package at the time of transfer to a processing unit such as a weighing device.

Means for Solving the Problems

[0008] The present disclosure is a conveying device that conveys packages along a conveying path while individually gripping them, including a plurality of movers arranged in the direction of the conveying path and movable in the direction of the conveying path, and a pair of grippers that grip both end portions of the package and are respectively supported by adjacent movers. At a delivery location defined on the conveying path for delivering the package between the conveying device and a processing unit that performs processing on the package, the package is supported from above in the vertical direction by the processing unit, the pair of grippers are each opened, and the pair of grippers are retracted to both sides with respect to the package by the movement of the movers in a direction away from each other, so that the package is separated from the pair of grippers. When the processing is completed, the pair of grippers approach the package by the movement of the movers in a direction approaching each other, and each closes to grip the package, and then the movers are configured to move in the direction of the conveying path.

[0009] The present disclosure also relates to a method of transferring a package between a package conveying device that conveys the package along a conveying path while individually gripping the package, and a processing unit that performs processing on the package. The package conveying device includes a plurality of movable members arranged in the direction of the conveying path and movable in the direction of the conveying path, and a pair of grippers that grip the end portions on both sides of the package and are respectively supported by adjacent movable members. At a delivery location defined on the conveying path for delivering the package between the package conveying device and the processing unit, after the package is supported from above in the vertical direction by the processing unit, a step of opening each of the pair of grippers, and a step of separating the package from the pair of grippers by moving the movable members that support each of the pair of grippers away from each other in a direction to separate them from each other, thereby retracting the pair of grippers to both sides with respect to the package. When the processing is completed, a step of moving the movable members closer to each other in a direction to bring the pair of grippers closer to the package, closing each of them to grip the package, and then moving the movable members in the direction of the conveying path.

Advantages of the Invention

[0010] According to the present disclosure, in order to perform processing on a package, instead of moving the package to a position away from the conveying path, the package is kept at the delivery location defined on the conveying path, and the grippers are retracted to both sides of the package by moving the movable members in the direction of the conveying path. Even if at least a part of the package is in contact with the grippers when the grippers are opened, the package can be surely separated from the grippers by retracting the grippers to both sides of the package by the movement of the movable members.

[0011] According to the present disclosure, since the package is transferred using the movable members provided in the package conveying device, it is not necessary to add a gripping mechanism or the like for receiving the package in the processing unit. By simply operating the grippers and the movable members of the package conveying device, the shaking of the package can be suppressed, and stable processing by a processing unit such as a weighing unit can be realized.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments will be described with reference to the accompanying drawings. [First Embodiment] 〔Overall Schematic Configuration〕 The packaging conveyor device 1 shown in FIG. 1 includes a conveyor path 2 having a circular orbit, a plurality of movers 10 movable along the conveyor path 2, and a control unit 3 that controls the traveling of the movers 10. The packaging conveyor device 1 is a linear motor type conveyor device that runs the mover 10 by electromagnetic interaction between the conveyor path 2 and the mover 10. The packaging conveyor device 1 conveys the pouch package 4 (hereinafter, pouch 4) along the conveyor path 2 while individually gripping it with the gripper 13 provided on the mover 10.

[0014] 〔Pouch〕 The pouch 4 is formed in a bag shape that can be filled with contents such as beverages, food, and pharmaceuticals from a flexible material in the form of a film or a sheet. As an example, the pouch 4 is formed flat from the superimposed film materials 41 as shown in FIG. 3. The peripheral edge 41A of the superimposed film materials 41 is sealed by being heat-sealed (heat fusion) along three sides leaving an opening 42 before filling the contents. After filling, the opening 42 is also sealed by heat fusion, and the pouch 4 is sealed. In addition, the pouch 4 may, for example, have a three-dimensional shape after filling by folding the bottom or both sides inward. Further, the pouch 4 may include a cylindrical body called a spout inserted into the opening in addition to the film material.

[0015] 〔Conveyor Path〕 The conveyor path 2 includes straight paths 21 and 23 that are linear and parallel, and curved paths 22 and 24 that are curved in an arc shape connecting the straight paths 21 and 23, and generally presents an elliptical shape. The conveyor path 2 is provided with electromagnetic coils (not shown) that act electromagnetically on the permanent magnets of the movers 10. The control unit 3 can individually control the position, speed, etc. of each mover 10 by controlling the current flowing through the electromagnetic coils of the conveyor path 2.

[0016] 〔Mover〕 The plurality of movers 10 are arranged in the direction of the conveyance path 2 and circulate along the conveyance path 2. As the movers 10 move, while each pouch 4 is conveyed in the order of the straight path 21, the curved path 22, and the straight path 23, processes such as filling, sealing, and inspection by weighing are performed on each pouch 4. The pouches 4 that have completed those processes are transferred from the straight path 23 to a downstream device (not shown).

[0017] As shown in an example in FIGS. 2 and 3, each mover 10 includes a mover body 11 movable in the direction of the conveyance path 2, an arm 12 provided on the mover body 11 and protruding away from the conveyance path 2, and a gripper 13 supported by the arm 12 and gripping the end portion 4E of the pouch 4.

[0018] Further, each mover 10 includes a mechanism (not shown) for tilting the arm 12 with respect to the mover body 11 while moving along the curved paths 22 and 24. With this tilting mechanism, a pair of arms 12 supporting the gripper 13 holding the pouch 4 can be kept parallel to each other while the mover 10 circulates along the conveyance path 2. Therefore, the pouch 4 does not come off from the gripper 13 even on the curved paths 22 and 24.

[0019] The mover body 11 engages with the members constituting the conveyance path 2 and is arranged side by side in the direction of the conveyance path 2. A permanent magnet (not shown) is provided on the mover body 11. The substantially elliptical orbit of the conveyance path 2 in the present embodiment is installed on the same horizontal plane. The arm 12 protrudes horizontally from the conveyance path 2. The pouch 4 is disposed between the arms 12 adjacent to each other in the direction of the conveyance path 2.

[0020] The arm 12 can be made of an appropriate material such as a metal or resin having sufficient rigidity to support the gripper 13. In the present embodiment, the arm 12 is joined to the mover body 11 formed in a block shape, but it is not limited thereto. The mover body 11 may be integrally formed including the portion supporting the gripper 13.

[0021] Figures 2 and 3 show a pair of movers 10 as part of a mover group arranged in the conveyance path 2. Grippers 13 provided on the pair of movers 10 so as to face each other in the direction of the conveyance path 2 form a pair and suspend the pouch 4 by gripping both end portions 4E on both sides of the pouch 4. In order to stably suspend the pouch 4 and stably perform the filling from the opening 42 located at the upper end of the pouch 4 and the sealing process of the opening 42, it is preferable to grip the pouch 4 above the center of gravity by the grippers 13. The direction of the conveyance path 2 is indicated by x, the direction in which the arm 12 projects horizontally from the mover body 11 is indicated by y, and the vertical direction is indicated by z. The y direction corresponds to a direction orthogonal to the plane of the pouch 4.

[0022] In the present embodiment, the pair of movers 10 and the pair of grippers 13 are formed symmetrically with respect to the center line L between the respective arms 12. With such symmetrically shaped movers 10 and grippers 13, the pouch 4 can be stably supported from both sides.

[0023] 〔Gripper〕 The gripper 13 includes a pair of clamping portions 130 that sandwich and grip the end portion 4E of the pouch 4, and a drive mechanism (not shown) that opens and closes the pair of clamping portions 130 as shown in the partially enlarged view of FIG. 2. Both of the pair of clamping portions 130 are supported by the arm 12 at the proximal end side and project inward in the width direction (x direction) of the pouch 4. Hereinafter, the clamping portion 130 that contacts the first surface 4A of the pouch 4 may be referred to as the first clamping portion 130-1, and the clamping portion 130 that contacts the second surface 4B of the pouch 4 may be referred to as the second clamping portion 130-2. The first clamping portion 130-1 is located on the more distal end side of the arm 12 with respect to the second clamping portion 130-2.

[0024] The first clamping part 130-1 and the second clamping part 130-2 open only on one side with respect to the pouch 4 to be gripped. That is, by means of a drive mechanism provided on the arm 12, for example, the second clamping part 130-2 is separated from the first clamping part 130-1 fixed to the arm 12, so that the pair of clamping parts 130 opens on the second surface 4B side of the pouch 4. Such a single-opening mechanism has a simpler configuration compared to a double-opening mechanism that drives both the first clamping part 130-1 and the second clamping part 130-2. By simplifying the configuration of the drive mechanism of the gripper 13, the weight of the members mounted on the mover body 11 can be suppressed, so that the load on the linear motor can be reduced.

[0025] Both the first clamping part 130-1 and the second clamping part 130-2 have a base body 131 and an elastic body 132 interposed between the base body 131 and the pouch 4. The first clamping part 130-1 and the second clamping part 130-2 securely grip the pouch 4 with sufficient force by the elastic force of the elastic body 132 that is pressed by the base body 131 and elastically deformed.

[0026] The base body 131 is formed in a plate shape from a metal material such as a steel material having the rigidity required for gripping. The base body 131 includes a pressing part 131A disposed along the surface of the end part 4E of the pouch 4 on the proximal end side of the clamping part 130, and a guide part 131B that is continuous with the clamping part 130 and is inclined away from the surface of the pouch 4 with respect to the pressing part 131A. The guide parts 131B of each of the pair of clamping parts 130 gradually widen toward the tip of the clamping part 130 and guide the pouch 4 between the pressing parts 131A.

[0027] The elastic body 132 is typically formed from a rubber material and is joined to the base body 131. A plurality of protrusions 132A protruding toward the pouch 4 may be formed on the elastic body 132. As shown in FIG. 2, the protrusions 132A are formed, for example, in a columnar shape. It is preferable that the protrusions 132A pressing the first surface 4A of the pouch 4 and the protrusions 132A pressing the second surface 4B of the pouch 4 are arranged alternately in each elastic body 132. Further, it is preferable that the corners of the edges of the elastic bodies 132 are chamfered so that the end portion 4E of the pouch 4 does not abut against the edges of the elastic bodies 132, and the pouch 4 is inserted between the elastic body 132 of the first clamping portion 130-1 and the elastic body 132 of the second clamping portion 130-2. The elastic body 132 of the first clamping portion 130-1 and the elastic body 132 of the second clamping portion 130-2 face each other with the pouch 4 therebetween, and are disposed between the pressing portion 131A of the first clamping portion 130-1 and the pressing portion 131A of the second clamping portion 130-2. In a side view from the direction of the arrow III in FIG. 2, the region of the elastic body 132 and the region of the pressing portion 131A substantially coincide with each other.

[0028] When the second clamping portion 130-2 is driven in the y direction by the drive mechanism and pressed against the first clamping portion 130-1 from the state where the first clamping portion 130-1 and the second clamping portion 130-2 are open, the elastic bodies 132 of the first and second clamping portions 130-1, 130-2 are pressurized between the pressing portion 131A of the first clamping portion 130-1 and the pressing portion 131A of the second clamping portion 130-2. Then, the pouch 4 is gripped between the protrusion 132A of the elastically deformed first clamping portion 130-1 and the protrusion 132A of the elastically deformed second clamping portion 130-2.

[0029] 〔Processing for the Pouch〕 While the pouch 4 is being conveyed by the mover 10 through the conveyance path 2 as described above, each process such as filling, sealing, and inspection by weighing is sequentially performed. When performing the filling process, although not shown, the pair of movers 10 are moved in a direction approaching each other by position control by the control unit 3, and the interval in the x direction between the pair of grippers 13 that grip the pouch 4 is narrowed, thereby pressing the pouch 4 from both sides to open the opening 42. The contents are supplied to the pouch 4 through the opening 42.

[0030] After that, when performing the sealing process for sealing the opening 42, it is preferable to move the pair of movers 10 in a direction away from each other by position control by the control unit 3, and apply tension to the pouch 4 by widening the interval in the x direction between the pair of grippers 13 that grip the pouch 4. Since the pouch 4 is stabilized in a flat posture and shape by the application of tension, the sealing process of sandwiching the pouch 4 between pressure heating members (not shown) and heat-sealing it can be stably performed without causing wrinkles in the pouch 4.

[0031] In addition, the adjustment of the distance between the pair of movers 10 during filling and sealing processes can be performed while the movers 10 are moving on the transport path 2. For example, while moving the movers 10 to the location where the next process (for example, the sealing process) is to be performed on the transport path 2, a distance suitable for the next process can be given between the pair of movers 10. By doing so, the production capacity can be increased compared to the case where the movers 10 are stopped at the location where the next process is to be performed and only the distance between the pair of movers 10 is adjusted.

[0032] Also, when tension is applied to the pouch 4 during processes such as sealing, it is possible to suppress the pouch 4 from swaying due to inertial force when the movers 10 are stopped for each process, and stabilize the posture and shape of the pouch 4. Therefore, after stopping the movers 10, the process can be started after waiting for the vibration of the pouch 4 to converge, and the time required to complete the process can be shortened.

[0033] When the inspection process by weighing is performed, the filled pouch 4 is transferred from the gripper 13 to the weighing unit 5 (FIG. 1) as a processing unit for weighing the pouch 4. This transfer is performed at the transfer location P1 (FIG. 1) defined on the transport path 2 for transferring the pouch 4 between the packaging transport device 1 and the weighing unit 5. The pouch 4 that has completed the weighing process by the weighing unit 5 is returned to the gripper 13 and sent from the transport path 2 to the downstream process.

[0034] The weighing unit 5 supports the pouch 4 in a suspended state and measures the weight of the contents and the pouch 4. A product for which the measured value obtained by the weighing unit 5 is within a predetermined value range is treated as a good product. The weighing unit 5 includes a support tool (not shown) that supports the upper end portion 4U of the pouch 4 by an appropriate method such as gripping.

[0035] Note that the weight measurement of the pouch 4 may be performed during filling by a weighing unit (not shown) installed at a location different from the delivery location P1 in the transport path 2 in order to fill the pouch 4 with contents up to a specified weight. Also in this case, it is preferable that the weight of the pouch 4 is measured for inspection after the sealing process.

[0036] 〔Delivery from the gripper to the weighing unit〕 Hereinafter, with reference to FIGS. 4 and 5, the procedure for delivering the pouch 4 from the gripper 13 of the packaging transport device 1 to the weighing unit 5 at the delivery location P1 will be described. First, by position control of the mover 10 by the control unit 3, the pair of movers 10 are stopped at the delivery location P1 (mover stop step S1). As a result, the pouch 4 to be weighed is positioned below the weighing unit 5. At this time, it is preferable that tension is applied to the pouch 4 by setting the distance between the pair of movers 10. The weighing unit 5 supports the pouch 4, for example, by gripping the upper end portion 4U of the pouch 4 with a support tool (not shown) provided in the weighing unit 5 (pouch support step S2).

[0037] Subsequently, with respect to the pair of grippers 13 located at the delivery location P1, the grippers 13 are opened by a drive mechanism of the grippers 13 that operates based on an open command issued from the control unit 3 (gripper open step S3). As a result, the second clamping portion 130-2 is separated from the pouch 4, and the pouch 4 is transferred from the gripper 13 to the support tool of the weighing unit 5. Since the gripper 13 of the present embodiment opens to one side as described above, at this point, at least a part of the pouch 4 is in contact with the first clamping portion 130-1.

[0038] Further, the pair of movers 10 are moved along the conveyance path 2 in a direction of separating from each other by position control corresponding to the retraction command issued from the control unit 3, so that the pair of grippers 13 are retracted to both sides with respect to the pouch 4 (gripper retraction step S4). Then, both end portions 4E on both sides in the width direction of the pouch 4 are separated from both the first clamping portion 130-1 and the second clamping portion 130-2. As a result, the pouch 4 remains at the position when it was gripped by the gripper 13 and is supported in a state of contacting only the support of the weighing unit 5. That is, the gripper retraction step S4 is performed in a state where the pouch 4 remains at the position when it is separated from the clamping portions 130-1 and 130-2 by the gripper opening step S3.

[0039] The gripper retraction step S4 can be started after the opening operation of the gripper 13 in the gripper opening step S3 is completed. Alternatively, the gripper retraction step S4 can be performed in parallel with the opening operation of the gripper 13 immediately after the start of the opening operation of the gripper 13. In this case, since the gripper retraction step S4 and the opening operation of the gripper 13 proceed substantially simultaneously, the time required for processing such as measurement can be shortened.

[0040] The position of the pouch 4 does not change through the steps S1 to S4 of transferring the pouch 4 from the gripper 13 to the weighing unit 5 at the transfer location P1. Subsequently, while the pouch 4 remains at the position when it is separated from the gripper 13, the weighing unit 5 measures the weight of the pouch 4 according to a command from the control unit 3 (weighing process step S5).

[0041] When adopting a delivery method different from this embodiment, for example, gripping the upper end of the pouch 4 with the support of the weighing unit 5 and pulling out the pouch 4 from the gripper 13 in the open state toward the tip side of the arm 12 by the support, since the pouch 4 moves, the pouch 4 is likely to sway. On the other hand, according to the delivery method of this embodiment in which the gripper 13 is opened while the upper end portion 4U of the pouch 4 is supported by the weighing unit 5, and the gripper 13 is retracted from the pouch 4 as the mover 10 moves, the pouch 4 is retained at the position when it leaves the gripper 13 without displacing the pouch 4 as much as possible, and the pouch 4 is delivered from the gripper 13 to the weighing unit 5, so it is possible to suppress the swaying of the pouch 4 during delivery.

[0042] When the mover 10 stops at the delivery location P1, when the gripper 13 opens and the second clamping portion 130-2 separates from the pouch 4, or when the first clamping portion 130-1 separates from the pouch 4 due to the movement of the mover 10, even if a part of the pouch 4 is slightly deformed or displaced, the overall position of the pouch 4 does not change. In addition, since the pouch 4 is stably gripped by the gripper 13, the pouch 4 is also difficult to sway when the support of the weighing unit 5 contacts the upper end portion 4U of the pouch 4.

[0043] After passing through the gripper retraction step S4, the pouch 4 is delivered from the gripper 13 to the weighing unit 5 without moving the pouch 4, so it is possible to avoid the swaying affecting the weighing accuracy and accurately weigh the weight of the pouch 4 containing the contents. When starting the weighing of the pouch 4 by the weighing unit 5, it is preferable that the pouch 4 is stationary. However, even if the pouch 4 is slightly swaying at the start of weighing, as the weighing progresses, the pouch 4 becomes stationary or the swaying converges to the allowable limit, so a stable measured value can be obtained from the weighing unit 5. That is, according to the present embodiment, when the pouch 4 is pulled out toward the measuring unit 5, for example, when the pouch 4 is transferred to the measuring unit 5 and the pouch 4 moves, the time until a stable measurement value can be obtained can be shortened compared to the case where the degree of shaking of the pouch 4 is large. Then, the mover 10 is stopped at the transfer location P1, and after the pouch 4 is transferred from the gripper 13 to the measuring unit 5, the time required to complete the measurement process can be shortened.

[0044] When the weighing is completed, based on a command from the control unit 3, the pair of movers 10 are brought closer to each other, and the pair of grippers 13 are each closed (see FIG. 2). When the end portion 4E of the pouch 4 is gripped between the first clamping portion 130-1 and the second clamping portion 130-2, the support of the pouch 4 by the measuring unit 5 is released. Then, it is transferred from the conveyance path 2 to the downstream process.

[0045] As described above, according to the present embodiment, the pouch 4 is transferred from the gripper 13 to the measuring unit 5 while being held in place, and subsequently, the weight of the pouch 4 is measured in a state where the posture and shape of the pouch 4 are stable. Thus, the shaking of the pouch 4 can be suppressed and the weighing process can be performed stably. Therefore, the weight of the pouch 4 can be measured accurately and quickly, contributing to the quality stability of the product and the improvement of productivity.

[0046] According to the present embodiment, instead of moving the pouch 4 to a position away from the conveyance path 2 for weight measurement that requires cutting off the contact between the pouch 4 and surrounding members, the pouch 4 is held at the transfer location P1 on the conveyance path 2, and the grippers 13 are retracted to both sides of the pouch 4 by moving the mover 10 in the direction of the conveyance path 2. Since the gripper 13 has a single-opening mechanism, even when the pouch 4 is in contact with the first clamping portion 130-1 when the gripper 13 is opened, the pouch 4 can be surely separated from the entire gripper 13 including the first clamping portion 130-1 by retracting the grippers 13 to both sides of the pouch 4. Even if the gripper 13 is a double-opening type, depending on the distance between the first clamping part 130-1 and the second clamping part 130-2 in the opened state, and the posture and shape below the upper end part 4U of the pouch 4 in the state where the tension application is released, the end part 4E may contact the gripper 13. Therefore, still, by retracting the gripper 13 to both sides of the pouch 4 by the movement of the mover 10, the pouch 4 can be surely separated from the gripper 13.

[0047] According to the present embodiment, the delivery is performed by using the mover 10 which is an essential element of the packaging conveyance device 1. By simply operating the gripper 13 and the mover 10 provided in the packaging conveyance device 1 respectively, without adding other elements to the packaging conveyance device 1, the shaking of the pouch 4 can be suppressed, and stable processing by the processing unit such as the metering unit 5 can be realized.

[0048] [Second Embodiment] Next, with reference to FIGS. 6 to 8, a packaging conveyance device and a packaging delivery method according to the second embodiment will be described. Hereinafter, the description will be centered on matters different from the first embodiment. The same reference numerals are given to the same components as those in the first embodiment. The packaging conveyance device of the second embodiment shows the tip side of the arm 12 of the mover 10 movable along the conveyance path 2 (FIG. 1) and the gripper 50. The illustration of the mover main body 11 (FIG. 1) is omitted.

[0049] FIG. 6 shows steps S6 and S7 from when the weight measurement process of the pouch 4 is performed by the metering unit 5 at the delivery location P1 (weight measurement process step S5) until the pouch 4 after the measurement is received from the metering unit 5 by the gripper 50. When the weight measurement process of the pouch 4 is completed, contrary to the above-described steps S3 and S4, based on a command from the control unit 3, the pair of movers 10 are moved in a direction approaching each other to move the pair of grippers 50 to the position of the end part 4E of the pouch 4 (gripper positioning step S6). Further, based on a closing command, the first clamping part 51 and the second clamping part 52 are closed by the drive mechanism of each gripper 50 to grip the end parts 4E on both sides of the pouch 4 (gripper closing step S7).

[0050] The pouch 4 is formed of a flexible material and is separated from the gripper 50 in the weighing process step S5. Therefore, a portion below the upper end 4U gripped by the weighing unit 5, that is, a portion not supported by the member, may be displaced in the out-of-plane direction (y direction) from the reference posture and shape along the xz plane of the pouch 4. Even if the pouch 4 is displaced in the out-of-plane direction in this way, in the step S6 of bringing the pair of movers 10 closer to each other, the gripper 50 of the second embodiment is configured so that the elastic bodies of the first and second clamping portions 51 and 52 do not interfere with the end 4E of the pouch 4 and a necessary clamping force can be ensured. Since the pouch 4 is flexible, its shape is difficult to determine. Moreover, since a single-opening gripper 50 is employed, the pouch 4 may be disposed offset to one side (here, the side of the first clamping portion 51) with respect to the center in the y direction between the first clamping portion 51 and the second clamping portion 52. Due to the uneven distribution of the pouch 4, even if the end 4E of the pouch 4 and the first clamping portion 51 are close to each other, interference between the gripper 50 and the pouch 4 when the pair of movers 10 are brought closer can be prevented, and the pouch 4 can be prevented from being caught by the gripper 50 or damaged.

[0051] The gripper 50 of the second embodiment includes a first clamping portion 51 and a second clamping portion 52 that sandwich the pouch 4 therebetween. FIG. 7 is a view showing the first clamping portion 51 and the second clamping portion 52 from the direction of arrow VII in FIG. 6. FIG. 8 is a view showing the first clamping portion 51 and the second clamping portion 52 from the direction of arrow VIII in FIG. 7. Similar to the gripper 13 (FIG. 2) of the first embodiment, the gripper 50 includes a first elastic body 511 and a first base body 512 forming the first clamping portion 51, a second elastic body 521 and a second base body 522 forming the second clamping portion 52, and a drive mechanism (not shown) for opening and closing the first clamping portion 51 and the second clamping portion 52.

[0052] The first elastic body 511 and the second elastic body 521 are each configured in the same manner as the elastic body 132 of the first embodiment. Further, the first base body 512 and the second base body 522 are configured in the same manner as the base body 131 of the first embodiment, except for their arrangements. Also, similar to the first embodiment, when the second clamping portion 52 separates from the first clamping portion 51 fixed to the arm 12, the gripper 50 opens only on one side with respect to the pouch 4 to be gripped. A drive mechanism (not shown) of the gripper 50 moves the second base body 522 closer to or away from the first base body 512 in a direction out of the plane of the pouch 4 (the y direction, which is the gripping direction for sandwiching the pouch 4 between the clamping portions 51 and 52). At this time, the second elastic body 521 also moves in the y direction together with the second base body 522 by the drive mechanism. Hereinafter, the direction (z direction) that intersects both the direction (x direction) of the transport path 2 and the gripping direction (y direction) for sandwiching the pouch 4 is referred to as the length direction of the pouch 4.

[0053] The features of the gripper 50 will be described. The first clamping portion 51 includes a first elastic body 511 disposed on the first surface 4A of the pouch 4 and a first base body 512 disposed on the first surface 4A at a position shifted in the length direction (z direction) of the pouch 4 from the first base body 512. The second clamping portion 52 includes a second elastic body 521 disposed on the second surface 4B of the pouch 4 facing the first elastic body 511 and a second base body 522 disposed on the second surface 4B of the pouch 4 at a position shifted in the length direction of the pouch 4 with respect to any of the first base body 512, the first elastic body 511, and the second elastic body 521. As described above, based on the fact that the first elastic body 511 and the second elastic body 521 face each other with the pouch 4 sandwiched therebetween, and these elastic bodies 511 and 521 are at different positions in the length direction (z direction) of the pouch 4, and the first base body 512 and the second base body 522 are arranged in a shifted state with respect to each other, it is possible to avoid interference between the gripper 50 and the pouch 4 when receiving the end portion 4E of the pouch 4 between the first clamping portion 51 and the second clamping portion 52 due to the movement of the mover 10 while ensuring the gripping force required for the gripper 50.

[0054] First, the securing of the gripping force of the gripper 50 will be described. Based on the above-described arrangement of the first elastic body 511, the first base body 512, the second elastic body 521, and the second base body 522, the second base body 522 can be moved in the gripping direction (y direction) from the second surface 4B side toward the first surface 4A side until the first elastic body 511 and the second elastic body 521 are sufficiently pressed against each other to secure the gripping force. That is, since the positions of the first base body 512 and the second base body 522 are shifted, there is no first base body 512 in front of the second base body 522 that moves in the y direction toward the first base body 512 by the drive mechanism of the gripper 50 (see the figure inside the ellipse VIII shown in FIG. 8). Therefore, without interference between the first base body 512 and the second base body 522, the second base body 522 can be moved in the y direction until the second base body 522 partially overlaps the first base body 512 in the y direction or until the second base body 522 exceeds the first base body 512, as shown in FIG. 8. Along with such relative displacement between the first base body 512 and the second base body 522, the second elastic body 521 is pressed against the opposing first elastic body 511, so that the first elastic body 511 and the second elastic body 521 can be sufficiently elastically deformed to secure the gripping force.

[0055] In the first embodiment (see the enlarged view of FIG. 2), all of the base bodies 131 and the elastic bodies 132 of the first and second clamping portions 130-1 and 130-2 are arranged at the same position in the length direction (z direction) of the pouch 4. In either of the first and second clamping portions 130-1 and 130-2, since the elastic body 132 is disposed overlappingly inside the pressing portion 131A of the base body 131, the base body 131 and the elastic body 132 of the first clamping portion 130-1 and the elastic body 132 and the base body 131 of the second clamping portion 130-2 are laminated with the pouch 4 sandwiched therebetween. In contrast, in the second embodiment, as shown in FIG. 8, the first base body 512 and the second base body 522 are not arranged overlappingly in the thickness direction (y direction) of the pouch 4. Based on this, interference between the gripper 50 and the pouch 4 can be avoided, and the gripper 50 can be formed as a whole in a thin shape.

[0056] An explanation will be given about avoiding interference between the gripper 50 and the pouch 4. Since the first base body 512 and the first elastic body 511 are arranged in the length direction (z direction) of the pouch 4, as shown in, for example, the figure inside the ellipse VIII in FIG. 8, both the pressing portion 501A of the first base body 512 and the first elastic body 511 face the first surface 4A of the pouch 4. Similarly, for the second base body 522 and the second elastic body 521 arranged in the z direction, both the pressing portion 501A of the second base body 522 and the second elastic body 521 face the second surface 4B of the pouch 4. Then, while continuously guiding the end portion 4E of the pouch 4 inserted along the direction orthogonal to the plane of FIG. 8 between the respective guide portions 501B (FIGS. 6 and 7) of the first base body 512 and the second base body 522 by the pressing portion 501A, it is possible to smoothly insert the pouch 4 to a predetermined position between the first elastic body 511 and the second elastic body 521 while suppressing interference between the elastic bodies 511, 521 and the pouch 4. In order to more sufficiently avoid interference with the pouch 4, as shown in the figure inside the ellipse VIII in FIG. 8, when the gripper 50 is open (when the elastic bodies 511, 521 are separated from the pouch 4), it is preferable that the pressing portion 501A of the first base body 512 is closer to the first surface 4A of the pouch 4 than the first elastic body 511. Similarly, it is preferable that the pressing portion 501A of the second base body 522 is closer to the second surface 4B of the pouch 4 than the second elastic body 521. In the example shown in FIG. 8, by setting the thickness of the first base body 512 to be larger than the thickness including the protrusion 502 of the first elastic body 511, the first base body 512 is made closer to the pouch 4 than the first elastic body 511. The same applies to the second elastic body 521 and the second base body 522. Not limited to the above, the portions of the first base body 512 and the first elastic body 511 that come into contact with the pouch 4 can be arranged at substantially the same height with reference to the first surface 4A of the pouch 4, and the portions of the second base body 522 and the second elastic body 521 that come into contact with the pouch 4 can be arranged at substantially the same height with reference to the second surface 4B of the pouch 4.

[0057] The pouch 4 is positioned in the y-direction between the pressing portion 501A of the first base body 512 and the pressing portion 501A of the second base body 522 that is shifted in the z-direction with respect to the pressing portion 501A. Therefore, as shown in FIGS. 7 and 8 of the present embodiment, in the z-direction, by disposing the first elastic body 511 and the second elastic body 521 between the pressing portion 501A of the first base body 512 and the pressing portion 501A of the second base body 522, interference between the pouch 4 and the elastic bodies 511, 521 can be more sufficiently suppressed.

[0058] In the examples shown in FIGS. 7 and 8, the first base body 512 is disposed on the upper side and the second base body 522 is disposed on the lower side with reference to the positions of the first elastic body 511 and the second elastic body 521, but the reverse may also be possible.

[0059] In order to avoid interference between the gripper 50 and the pouch 4 when bringing the pair of movers 10 close to each other, for example, the following configuration can be adopted. However, according to the present embodiment, it is not always necessary to add a mechanism for moving the metering unit 5 relative to the gripper 50 or add a mechanism for driving the first clamping portion 51 to open the gripper 50 in both directions. For example, with the gripper 50 open, based on the result of detecting the y-direction position of the end portion 4E of the pouch 4 between the first clamping portion 51 and the second clamping portion 52 by a camera or the like, the support tool of the metering unit 5 that supports the pouch 4 may be moved in the y-direction so that the pouch 4 is disposed at the center in the y-direction between the first clamping portion 51 and the second clamping portion 52. Alternatively, by opening the gripper 50 in both directions, interference between the gripper 50 and the pouch 4 can also be avoided by increasing the y-direction interval between the first clamping portion 51 and the second clamping portion 52 as compared with the single-opening.

[0060] According to the present embodiment, based on the above-described arrangement of the first elastic body 511, the first base body 512, the second elastic body 521, and the second base body 522, while adopting a single-opening, interference during insertion of the pouch 4 between the first clamping portion 51 and the second clamping portion 52 can be avoided, and the gripping force can be ensured by elastic deformation of the first elastic body 511 and the second elastic body 521. In addition, while adopting the above-described arrangements of the first elastic body 511, the first base body 512, the second elastic body 521, and the second base body 522, movement of the metering unit 5 based on the detection result of the position of the pouch 4 as exemplified above and adoption of a double-opening gripper are not precluded.

[0061] With the pouch 4 inserted between the elastic bodies 511 and 521, the second clamping part 52 is driven in the y direction from the second surface 4B side toward the first surface 4A side by a drive mechanism (not shown) (gripper closing step S7). Then, as shown in FIG. 8, when the second elastic body 521 is pressed against the first elastic body 511, the first elastic body 511 and the second elastic body 521 are elastically deformed, so that the pouch 4 is gripped between the elastic bodies 511 and 521 with sufficient gripping force (pouch gripping step S8). Thereafter, it is preferable to release the support of the upper end portion 4U of the pouch 4 by the metering unit 5.

[0062] [Modification of the Second Embodiment] With reference to FIGS. 9 and 10, a gripper 80 according to a first modification developed from the second embodiment will be described. It is possible to replace the gripper 50 of the second embodiment (FIGS. 6 to 8) with the gripper 80. The gripper 80 shown in FIG. 9 includes a first clamping part 81 and a second clamping part 82 that sandwich the pouch 4. The first clamping part 81 is disposed on the first surface 4A side of the pouch 4. The second clamping part 82 is disposed on the second surface 4B side of the pouch 4. The first clamping part 81 includes a first elastic body 811 and a first base body 812. The second clamping part 82 includes a second elastic body 821 and a second base body 822. As a whole, the first clamping part 81 and the second clamping part 82 are arranged in a comb shape in the length direction (z direction) of the pouch 4. At least one of the first base body 812 and the second base body 822, in this example, the first base body 812, is formed in a comb shape including a plurality of comb teeth 801. The first base body 812 includes two comb teeth 801 separated in the z direction and a connecting part 802 that connects these comb teeth 801 on the proximal end side. The comb teeth 801 correspond to the pressing part 501A and the guide part 501B. The second base body 822 has only a single comb tooth 801.

[0063] In this example, two comb teeth 801 shifted in the z direction are located at both ends of the rows of the comb teeth of the entire first clamping portion 81 and second clamping portion 82. In the z direction, two sets of a first elastic body 811 and a second elastic body 821 that sandwich the pouch 4 from both sides and face each other are arranged between the two comb teeth 801. The second base body 822 (comb tooth 801) is arranged between the upper set of the first elastic body 811 and the second elastic body 821 and the lower set of the first elastic body 811 and the second elastic body 821. In addition, an appropriate number of comb teeth 801 can be provided for each of the first clamping portion 81 and the second clamping portion 82, and the comb teeth 801, the first elastic body 811, and the second elastic body 821 can be appropriately combined and arranged in a comb shape.

[0064] When gripping the pouch 4 between the first elastic body 811 and the second elastic body 821, it is necessary to relatively displace the first base body 812 and the second base body 822 in the y direction without interfering with each other until the elastic bodies 811 and 822 are sufficiently elastically deformed. To achieve this, by providing a step 803 on at least one of the first base body 812 and the second base body 822 (here, the first base body 812), the proximal ends of the first base body 812 and the second base body 822 are separated from each other, and the comb teeth 801 of the first base body 812 and the second base body 822 are alternately arranged in the z direction.

[0065] Also in this modification, similar to the above-described second embodiment (FIGS. 7 and 8), the elastic bodies 811 and 821 facing each other with the pouch 4 interposed therebetween, the first base body 812, and the second base body 822 are arranged with different positions in the z direction. Based on this arrangement, similar to the second embodiment, it is possible to avoid interference between the elastic bodies 811 and 821 of the gripper 80 and the pouch 4 while ensuring a gripping force. Also in this modification, in order to more sufficiently avoid interference with the pouch 4, when the gripper 80 is open, it is preferable that the pressing portion 501A of the first base body 812 is closer to the first elastic body 811 than the pouch 4 with respect to the first surface 4A of the pouch 4. Similarly, it is preferable that the pressing portion 501A of the second base body 822 is closer to the second elastic body 821 than the pouch 4 with respect to the second surface 4B of the pouch 4.

[0066] In addition, according to this modification example, the holding portions 501A of the comb teeth 801 of the first base 812 and the holding portions 501A of the comb teeth 801 of the second base 822 stably hold the pouch 4 from both sides at a plurality of positions in the z direction, so that the pouch 4 is maintained in a stable posture in the y direction. Therefore, while avoiding interference between the pouch 4 and the elastic bodies 811 and 821, the pouch 4 can be stably gripped between the elastic bodies 811 and 821.

[0067] [Second Modification Example of the Second Embodiment] With reference to FIGS. 11 and 12, the gripper 70 according to the second modification example of the second embodiment will be described. The gripper 70 shown in FIG. 11 includes a first clamping portion 71 and a second clamping portion 72 that sandwich the pouch 4. The first clamping portion 71 includes a first elastic body 511 and a comb-shaped first base 712. The second clamping portion 72 includes a second elastic body 521 and a comb-shaped second base 722. The first base 712 includes a plurality of comb teeth 701 separated in the length direction (z direction) of the pouch 4, and a connecting portion 702 that connects the plurality of comb teeth 701 on the proximal end side. The comb teeth 701 correspond to the pressing portion 501A and the guiding portion 501B. The second base 722 is also configured in the same manner as the first base 712. Note that the number of the comb teeth 701 of the first base 712 and the number of the comb teeth 701 of the second base 722 may be the same or different. Also, either one of the first base 712 and the second base 722 may have only a single comb tooth 701.

[0068] Also in the second modification example, similar to the first modification example described above, by providing a step 703 on at least one of the first base 712 and the second base 722 (here, the first base 712), the connecting portion 702 of the first base 712 and the connecting portion 702 of the second base 722 are separated from each other, and the respective comb teeth 701 of the first base 712 and the second base 722 are arranged alternately in the z direction. The first base 712 and the second base 722 that are meshed in this way are arranged at positions shifted in the z direction with respect to the first elastic body 511 and the second elastic body 521.

[0069] Also in this modification example, since the elastic bodies 511 and 521 facing each other across the pouch 4, the first base 712, and the second base 722 are arranged with different positions in the z direction, it is possible to avoid interference between the elastic bodies 511 and 521 of the gripper 70 and the pouch 4 while ensuring the gripping force. In order to more sufficiently avoid interference with the pouch 4, when the gripper 70 is open, it is preferable that the pressing portion 501A of the first base 712 is closer to the first elastic body 511 than the first surface 4A of the pouch 4. Similarly, it is preferable that the pressing portion 501A of the second base 722 is closer to the second elastic body 521 than the second surface 4B of the pouch 4.

[0070] The pouch 4 is stably pressed from both sides in the z direction by the pressing portion 501A of the comb teeth 701 of the first base 712 and the pressing portion 501A of the comb teeth 701 of the second base 722, so that the pouch 4 is maintained in a stable posture in the y direction. Therefore, regardless of the positions of the elastic bodies 511 and 521 in the z direction, it is possible to stably grip the pouch 4 between the elastic bodies 511 and 521 while avoiding interference between the pouch 4 and the elastic bodies 511 and 521.

[0071] In addition to the above, it is possible to select and discard the configurations described in the above embodiments, or to appropriately change them to other configurations. The package to be conveyed in the present disclosure is not limited to the pouch, and may be, for example, a resin bag.

[0072] The processing unit to which the package is transferred from the gripper of the package conveying device of the present disclosure is not limited to the weighing unit, and may be other appropriate devices. Also in that case, it is possible to suppress the shaking of the package at the time of transfer and perform the processing stably.

[0073] The number of grippers provided on each of the pair of movers does not matter. For example, if two grippers are provided on each mover, two packages can be gripped and conveyed by the two pairs of grippers provided on the pair of movers. Therefore, under the same processing capacity, the conveyance path length can be suppressed, and the cost and installation space of the device can be reduced.

[0074] [Supplementary Note] The packaging conveyance device and the packaging transfer method described above disclose the following. [1] The conveyance device 1 that conveys the packages (4) while individually gripping them along the conveyance path 2 includes a plurality of movers 10 arranged in the direction of the conveyance path 2 and movable in the direction of the conveyance path 2, and a pair of grippers 13 (or 50) respectively supported by the movers 10 and gripping the end portions 4E on both sides of the package (4). At the transfer location P1 defined on the conveyance path 2 for transferring the package (4) between the conveyance device 1 and the processing unit (5) that performs processing on the package (4), the pair of grippers 13 (or 50) are each opened, and the pair of grippers 13 (or 50) are configured to retract to both sides with respect to the package (4) by the movement of the movers 10. [2] It includes a control device 3 capable of controlling the position of each of the plurality of movers 10. With respect to the pair of grippers 13 (or 50) located at the transfer location P1, after the package (4) is supported by the processing unit and then an opening command to open the grippers 13 (or 50) is issued by the control device 3, a retraction command to move the movers 10 away from each other is issued. [3] At the transfer location P1, the package (4) is gripped at its upper end portion in the vertical direction by the processing unit (5), and the pair of grippers 13 (or 50) retract from the package (4) along a direction intersecting the vertical direction (z direction). [4] The processing unit (5) is a weighing device for weighing the package (4). [5] The gripper 13 (or 50) opens toward one of the first surface 4A side or the second surface 4B side of the package (4) being gripped. [6] The gripper 50 includes a first clamping portion 51 and a second clamping portion 52 that sandwich the package (4), and assuming that the direction (z direction) that intersects both the direction (x direction) of the transport path 2 and the gripping direction (y direction) that sandwiches the package (4) is the length direction (z direction) of the package, the first clamping portion 51 includes a first base body 512 disposed on the first surface 4A of the package (4), and a first elastic body 511 disposed on the first surface 4A at a position shifted in the length direction (z direction) from the first base body 512. The second clamping portion 52 includes a second elastic body 521 disposed on the second surface 4B of the package (4) facing the first elastic body 511, and a second base body 522 disposed on the second surface 4B at a position shifted in the length direction (z direction) relative to any of the first base body 512, the first elastic body 511, and the second elastic body 521. As the first base body 512 and the second base body 522 are displaced relative to each other in the gripping direction (y direction), the first elastic body 511 and the second elastic body 521 are pressed against each other with the package (4) therebetween. [7] When the gripper 50 is open, the first base body 512 is closer to the first surface 4A than the first elastic body 511, and the second base body 522 is closer to the second surface 4B than the second elastic body 521. [8] At least one of the first base body (512, 712, 812) and the second base body (522, 722, 822) is formed in a comb shape, and the package (4) is pressed from both sides at a plurality of positions in the length direction (z direction) of the package (4) by the first base body (512, 712, 812) and the second base body 522 (522, 722, 822). [9] Further, the present disclosure is a method of transferring the package (4) between a package transfer device 1 that transfers the package (4) along the transfer path 2 while individually gripping the package (4), and a processing unit (5) that performs processing on the package (4). The package transfer device 1 includes a plurality of movers 10 arranged in the direction of the transfer path 2 and movable in the direction of the transfer path 2, and a pair of grippers 13 (or 50) respectively supported by the movers 10 and gripping the end portions 4E on both sides of the package (4). At a delivery location P1 defined on the transfer path 2 for delivering the package (4) between the transfer device and the processing unit (5), following the support of the package (4) by the processing unit (5), a step S3 of opening each of the pair of grippers 13 (or 50), and a step S4 of retracting the pair of grippers 13 (or 50) to both sides with respect to the package (4) by moving the pair of movers 10 away from each other.

[10] The step S4 of retracting the pair of grippers 13 (or 50) is performed in a state where the pair of grippers 13 (or 50) remains at the position when the package (4) is separated from the grippers 13 (or 50) by the step S3 of opening each of the pair of grippers 13 (or 50).

[11] The processing unit (5) corresponds to a weighing device that weighs the package (4).

[12] A method of transferring the package (4) between the package transfer device 1 as described in (6) and (7) above and a processing unit (5) that performs processing on the package (4). At the delivery location P1, the step of receiving the processed package (4) from the processing unit (5) by the pair of grippers 13 (or 50) includes a step S6 of moving the pair of movers 10 closer to each other, and a step S7 of closing the pair of grippers 13 (or 50).

Explanation of Reference Numerals

[0075] 1 Package transfer device 2 Transfer path 3 Control unit (control device) 4 Pouch (package) 5 Weighing unit (processing unit, weighing device) 4A First surface 4B Second surface 4E End portion 4U Upper end portion 10 Mover 11 Movable element body 12 Arm 13 Gripper 21, 23 Straight path 22, 24 Curved path 41 Film material 41A Periphery 42 Opening 50, 70, 80 Gripper 51, 71, 81 First clamping part 52, 72, 82 Second clamping part 130 Clamping part 130-1 First clamping part 130-2 Second clamping part 131 Base body 131A Pressing part 131B Guide part 132 Elastic body 132A Protrusion 501A Pressing part 501B Guide part 502 Protrusion 511, 711, 811 First elastic body 512, 712, 812 First base body 521, 721, 821 Second elastic body 522, 722, 822 Second base body 701, 801 Comb teeth 702, 802 Connecting part 703, 803 Step L Center line P1 Handover location S1 Movable element stop step S2 Pouch support step S3 Gripper open step S4 Gripper retraction step S5 Measurement processing step S6 Gripper positioning step S7 Gripper close step S8 Pouch gripping step x Direction of the conveyance path y Out-of-plane direction of the pouch, thickness direction of the pouch, gripping direction z Length direction of the pouch, vertical direction

Claims

1. A conveying device for conveying packages while individually gripping them along a conveying path, comprising: a stator provided along the conveying path; a plurality of rotors that can travel with respect to the stator by electromagnetic interaction therebetween, are arranged in the direction of the conveying path, and are movable in the direction of the conveying path; a pair of grippers that grip the end portions on both sides of the package and are respectively supported by adjacent ones of the rotors; the pair of grippers each include a first clamping portion and a second clamping portion, each having a pressing portion on the proximal end side and a guiding portion on the distal end side that is inclined with respect to the pressing portion and continuous from the pressing portion; the guiding portions of the first clamping portion and the second clamping portion each have a widening interval between them toward the tip; the interval between the pair of grippers gripping the package is configured to change between a narrow state and a wide state by relative translational movement of the rotors; at a delivery location defined on the conveying path for delivering the package between the conveying device and a processing unit that processes the package, the package is supported by the processing unit from above in the vertical direction; the pair of grippers each open, and the package is separated from the pair of grippers by retracting the pair of grippers to both sides with respect to the package by translational movement of the rotors in a direction away from each other; when the processing is completed, the pair of grippers approach the package from the side of the guiding portion by translational movement of the rotors in a direction approaching each other, and then close to grip the package, and then the rotors are configured to move in the direction of the conveying path. Package conveying device.

2. Comprising a control device capable of controlling the position of each of the plurality of rotors, by the control device, with respect to the pair of grippers located at the delivery location, after the package is supported by the processing unit and an opening command to open the grippers is issued, a retraction command to move the rotors in a direction away from each other is issued. The package conveying device according to claim 1.

3. At the delivery location, the package is gripped by the processing unit at its upper end portion in the vertical direction, the pair of grippers retract from the package along the horizontal direction in which the conveying path extends. The package conveying device according to claim 1 or 2.

4. The processing unit is a weighing device for weighing the package. The package conveying device according to any one of claims 1 to 3.

5. The gripper opens toward one of the first surface side or the second surface side of the package to be gripped. The package conveying device according to any one of claims 1 to 4.

6. A method of transferring a package between a package conveying device that conveys the package along a conveyance path while individually gripping the package, and a processing unit that performs processing on the package, The package conveying device includes a stator provided along the conveyance path, a plurality of movers that are capable of traveling with respect to the stator by electromagnetic interaction with the stator, are arranged in the direction of the conveyance path, and are movable in the direction of the conveyance path, and a pair of grippers that grip both end portions on both sides of the package and are respectively supported by the adjacent movers. The pair of grippers includes a first clamping portion and a second clamping portion each including a pressing portion on the base end side and a guide portion on the tip end side that is inclined with respect to the pressing portion and extends from the pressing portion. The guide portions of the first clamping portion and the second clamping portion are spaced apart from each other as they extend toward the tips. A step in which the distance between the pair of grippers gripping the package changes between a narrow state and a wide state by relative translational movement of the movers. At a delivery location defined on the conveyance path for delivering the package between the package conveying device and the processing unit, A step of opening each of the pair of grippers after the package is supported by the processing unit from above in the vertical direction. A step of separating the package from the pair of grippers by translating the movers supporting the pair of grippers in a direction away from each other to retract the pair of grippers to both sides with respect to the package. A package delivery method, including: after the processing is completed, moving the pair of grippers closer to the package from the side of the guide portion by translational movement of the movers in a direction approaching each other, closing each of them to grip the package, and then moving the movers in the direction of the conveyance path.

7. The step of retracting the pair of grippers is performed in a state where the package remains at the position when it is separated from the grippers by the step of opening each of the pair of grippers. The package delivery method according to claim 6.

8. The processing unit corresponds to a weighing device that weighs the package. The package delivery method according to claim 6 or 7.

9. A method for transferring a package between the packaging and conveying device according to any one of claims 1 to 5 and the processing unit that performs processing on the package, comprising: at the transfer location, the step of receiving the package on which the processing has been performed from the processing unit by the pair of grippers includes: a step of moving the pair of movers in a direction approaching each other; and a step of closing the pair of grippers. A package transfer method.

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