Transfer device

Abstract

Provided is a transfer device on which a conveyance target can be loaded while changing the orientation thereof. A gripping part 34 of a transfer device 20 grips, in a right-side gripping orientation, a conveyance target 1 that has been placed on a support base part 23, conveys the conveyance target 1 to a load-receiving part 8, disposes the conveyance target 1 as a lower supported conveyance article 1 (1) on the load-receiving part 8 in a loading orientation (orientation in which a main gripping part 35 is oriented to the stage-right side in the direction of an arrow 40), grips an upper conveyance target 1 (11) in a left-side gripping orientation, which is exactly opposite to the right-side gripping orientation, and stacks the upper conveyance target 1 (11) on the lower conveyance target 1 (1) in the same loading orientation as the lower conveyance target 1 (1), thereby reversing the orientation of the lower conveyance target 1 (1) and the orientation of the upper conveyance target 1 (11).

Description

Transfer device

[0001] The present invention relates to a transfer device that transfers an object to be transported and loads it onto a loading section.

[0002] Conventionally, a palletizing system that loads objects transported by a belt conveyor onto pallets or the like downstream is described, for example, in Patent Document 1 below (hereinafter, the technology described in Patent Document 1 will be referred to as the "Publication 1 Invention"). In this Patent Document 1 invention, an alignment robot that aligns the objects and a transfer robot that transfers the aligned objects onto the pallets and places them there work together downstream of the belt conveyor. The alignment robot and the transfer robot control the flow of the objects according to multiple alignment patterns and multiple placement patterns.

[0003] Japanese Patent Application Laid-Open No. 2023-126020

[0004] However, the objects to be transported vary. For example, when the objects are booklets such as pamphlets, they usually have thick seams, and the thickness varies significantly as they are stacked, causing them to collapse. Therefore, to prevent the seams from facing the same direction, the objects are stacked in bundles of several books, each stacked in a different orientation. Changing the orientation of the objects to be transported onto the pallet each time they are transported from the belt conveyor requires complex control, and the arm interferes with objects already on the pallet. Therefore, in this case, the objects are transported from the belt conveyor to the pallet by hand.

[0005] The present invention has been proposed in view of the above-mentioned circumstances, and has as its object to provide a transfer device that can load an object while changing its orientation.

[0006] In order to achieve the above-mentioned object, the transfer device of the present invention is a transfer device that grasps a transported object and transfers and loads it onto a loading section, and is characterized in that it has an arm section that rotates around a fixed base as a fulcrum, and a gripping section connected to the tip of the arm section, and the gripping posture, which is the posture of the gripping section when grasping the transported object, is changed depending on the posture of the transported object when loading the transported object onto the loading section, and the loading posture, which is the posture of the gripping section when loading the transported object onto the loading section, is the same for each transported object.

[0007] The transfer device according to the present invention is characterized in that the gripping portion grips the transported object by being adjacent to one of the side surfaces of the transported object.

[0008] The transfer device according to the present invention is characterized in that the gripping portion changes its posture by rotating about an axis in the vertical direction.

[0009] The transfer device of the present invention is characterized in that when the transported objects are stacked, the gripping posture of the transported objects on the lower tier and the transported objects on the upper tier is exactly opposite, so that the transported objects are stacked in the opposite direction.

[0010] The transfer device according to the present invention is characterized in that it has a support base section that supports the transported object from below and leaves a gap below the transported object before the transported object is gripped by the gripping section, and the gripping section supports the underside of the transported object.

[0011] The transfer device according to the present invention is characterized in that the support platform portion raises and lowers while supporting at least the four corners of the underside of the transported object, with gaps left and right and front and back and / or left and right of the underside of the transported object.

[0012] The transfer device according to the present invention is characterized in that it has a conveyor that transports the object, and the support base portion is disposed downstream of the conveyor.

[0013] For example, if a first transported object is placed on a loading section and then a second transported object is stacked on top of the first transported object, it may be less likely to collapse if the second transported object is oriented in a different direction from the first transported object. Therefore, a transfer device according to the present invention grips the transported object, transfers it to a loading section, and loads it on the loading section. The transfer device has an arm that rotates around a stationary base as a fulcrum, and a gripper connected to the tip of the arm. The gripper's gripping posture when gripping the transported object is changed depending on the orientation of the transported object when loading it onto the loading section, and the loading posture, the posture of the gripper when loading the transported object onto the loading section, is the same for each transported object. For example, if the gripper grips the first transported object from the right side in the gripping posture for the first transported object, then the gripper grips the second transported object from the left side of the second transported object. Therefore, even if the loading posture for the first transported object and the loading posture for the second transported object are the same, the transported objects stacked on the loading section will be oriented in opposite directions. Therefore, the transported objects can be loaded while changing their orientation.

[0014] In the transfer device according to the present invention, the gripping unit grips the transported object by being adjacent to one of its sides. The gripping unit grips the transported object by being adjacent to, for example, the front, rear, left, right, or diagonal side of the transported object, so that the gripped transported object has a side that is not adjacent to the gripping unit. In the loading position, if the side that is not adjacent to the gripping unit is placed adjacent to an object already placed on the loading section, there is no interference between the gripping unit and the transported object already placed. Because the loading position is the same for each transported object, the objects can be aligned in the same direction and stacked without interfering with surrounding transported objects.

[0015] In the transfer device according to the present invention, the gripping unit changes its posture by rotating about an axis in the vertical direction. By rotating the gripping unit, the gripping posture can be changed, and the same posture can be maintained for each transported object by changing from the gripping posture to the loading posture.

[0016] In the transfer device according to the present invention, when transported objects are stacked, the gripping postures of the lower transported object and the upper transported object are opposite, so that the transported objects are stacked in the opposite direction. Therefore, for example, in the gripping posture for the lower transported object, the gripping unit grips the transported object from its right side, and in the gripping posture for the upper transported object, the gripping unit grips the transported object from its left side, which is the opposite of the gripping posture for the lower transported object. On the other hand, since the loading posture is the same, the transported objects stacked on the loading section are oriented in opposite directions. Therefore, the transported objects can be loaded while changing their orientation.

[0017] The transfer device according to the present invention has a support base that supports the transported object from below and leaves a gap below the transported object before the transported object is gripped by the gripping unit, and the gripping unit supports the underside of the transported object. The gripping unit grips the transported object by entering the gap, so the gripping position can be changed to grip the transported object.

[0018] In the transfer device according to the present invention, the support platform lifts and lowers the object while supporting at least the four corners of the underside of the object, with gaps left at the front, back, left, and right of the underside of the object. Because there are gaps at the front and back, left and right of the underside, or at the front, back, left, and right of the underside of the object after it has been lifted, the object can be gripped by the gripping units from the front, back, left, and right.

[0019] The transfer device according to the present invention includes a conveyor for transporting objects, and a support platform is disposed downstream of the conveyor, so that the objects transported by the conveyor can be loaded onto a loading platform downstream.

[0020] FIG. 1 is a side view of a transfer device according to an embodiment of the present invention. FIG. 2 is a plan view of a transfer device according to an embodiment of the present invention. FIG. 3 is a side view of a first embodiment showing a first gripping posture of a transfer device according to an embodiment of the present invention. FIG. 4 is a side view of a second embodiment showing a second gripping posture of a transfer device according to an embodiment of the present invention. FIG. 5 is a first explanatory diagram of transfer, showing a state in which a transfer device according to the first embodiment of the present invention transfers a transported object. FIG. 6 is a second explanatory diagram of transfer, showing a state in which a transfer device according to the first embodiment of the present invention transfers a transported object. FIG. 7 is a third explanatory diagram of transfer, showing a state in which a transfer device according to the first embodiment of the present invention transfers a transported object. FIG. 8 is a first explanatory diagram of transfer, showing a state in which a transfer device according to a second embodiment of the present invention transfers a transported object. FIG. 9 is a second explanatory diagram of transfer, showing a state in which a transfer device according to the second embodiment of the present invention transfers a transported object. FIG. 10 is a third explanatory diagram of transfer, showing a state in which a transfer device according to the second embodiment of the present invention transfers a transported object. FIG. 11 is a first explanatory diagram of transfer, showing a state in which a transfer device according to a third embodiment of the present invention transfers a transported object. Fig. 12 is a second explanatory diagram of conveyance showing how an object is conveyed by a transfer device according to a third embodiment of the present invention. Fig. 13 is a third explanatory diagram of conveyance showing how an object is conveyed by a transfer device according to the third embodiment of the present invention. Fig. 14 is a first explanatory diagram of conveyance showing how an object is conveyed by a transfer device according to a fourth embodiment of the present invention. Fig. 15 is a second explanatory diagram of conveyance showing how an object is conveyed by a transfer device according to the fourth embodiment of the present invention. Fig. 16 is a third explanatory diagram of conveyance showing how an object is conveyed by a transfer device according to the fourth embodiment of the present invention.

[0021] 1 and 2 show a transfer device 20 according to an embodiment of the present invention.

[0022] 1 and 2, the transfer device 20 has a first conveyor 21 that transfers the transported object 1, a second conveyor 22 arranged downstream of the first conveyor 21, a support base 23 installed on the second conveyor 22, an arm 29 arranged on the opposite side of the support base 23 from the second conveyor 22, and a gripper 34 connected to the tip of the arm 29. A loading unit 8, which is a pallet or the like on which the transported object 1 is loaded, is installed near the transfer device 20. The position of the loading unit 8 is arbitrary.

[0023] The transported object 1 is any object, for example, a printed material such as a pamphlet or a leaflet, a booklet, etc. The first conveyor 21 and the second conveyor 22 are any object, for example, an accumulation roller conveyor, a normal drive roller conveyor, a belt conveyor, etc.

[0024] The arm unit 29 is connected to the top of a base 33. The base 33 is stationary and does not move relative to the installation surface. The arm unit 29 rotates with the base 33 as a fulcrum. The arm unit 29 has a first joint 30, a second joint 31, and a third joint 32, and each of the joints 30, 31, and 32 bends to freely extend and contract. Therefore, the arm unit 29 freely rotates and extends and contracts, moving within the movable range 7 and displacing the gripper 34. The gripper 34 rotates freely relative to the arm unit 29. The number of joints 30, 31, and 32 and the width of the movable range 7 are arbitrary.

[0025] In the transfer device 20 configured as described above, the transported object 1 transported on each of the conveyors 21, 22 is gripped by the gripping section 34, and the arm section 29 rotates, whereby the transported object 1 is transferred to and loaded on the loading section 8. Note that, hereinafter, the upstream side of the transport direction in which the transported object 1 is transported by each of the conveyors 21, 22 will be referred to as the back side, the downstream side will be referred to as the front side, the sides of each of the conveyors 21, 22 will be referred to as the right side and the left side, and the vertical direction will be referred to as the up and down sides (see FIGS. 1 and 2 ).

[0026] Next, the configurations and operations of the support base 23 and the gripping portion 34 will be described with reference to the drawings.

[0027] 3 and 4, the support platform 23 is raised and lowered by the lifting drive unit 24. When the support platform 23 is in its lowest position, its upper end surface is lower than the upper end surface of the second conveyor 22. When the support platform 23 is raised, it contacts the underside of the transported object 1, pushing it up and moving to a position where the underside of the transported object 1 is higher than the upper end surface of the second conveyor 22. The support platform 23 is divided into four parts and is composed of four support platform members 25, 26, 27, and 28. The support platform members 25, 26, 27, and 28 are arranged on the left and right sides across the second conveyor 22, and are further divided into front and rear parts. The first support base member 25 is disposed to the right and rear of the second conveyor 22, the second support base member 26 is disposed to the right and front of the second conveyor 22, the third support base member 27 is disposed to the left and rear of the second conveyor 22, and the fourth support base member 28 is disposed to the left and front of the second conveyor 22 (see FIG. 2). Therefore, there is a gap between the first support base member 25 and the second support base member 26, a gap between the third support base member 27 and the fourth support base member 28, a gap between the first support base member 25 and the third support base member 27 via the second conveyor 22, and a gap between the second support base member 26 and the fourth support base member 28 via the second conveyor 22.

[0028] When the support platform 23 is raised and the load 1 is placed on the support platform 23, the support platform members 25, 26, 27, and 28 support the four corners of the underside of the load 1. The first support platform member 25 supports the right rear of the underside of the load 1, the second support platform member 26 supports the right front of the underside of the load 1, the third support platform member 27 supports the left rear of the underside of the load 1, and the fourth support platform member 28 supports the left front of the underside of the load 1 (see FIG. 2). Therefore, a gap is left between the first support base member 25 and the third support base member 27 on the rear side of the underside of the transported object 1, a gap is left between the second support base member 26 and the fourth support base member 28 on the front side of the underside of the transported object 1, a gap is left between the first support base member 25 and the second support base member 26 on the right side of the underside of the transported object 1, and a gap is left between the third support base member 27 and the fourth support base member 28 on the left side of the underside of the transported object 1.

[0029] The gripping portion 34 includes a gripping body 35 that is a generally rectangular box, a thin upper support piece 37 connected to a distal end surface 36 of the gripping body 35, and a thin lower support piece 38 protruding from the distal end surface 36. The upper support piece 37 and the lower support piece 38 face each other vertically. The upper support piece 37 is exposed at the distal end surface 36 of the gripping body 35 and can be freely raised and lowered. As the upper support piece 37 rises and falls, it approaches or moves away from the lower support piece 38, thereby freely changing the distance between the upper support piece 37 and the lower support piece 38. The lower support piece 38 can be placed in a housed state within the gripping body 35 or protruded from the distal end surface 36. In the housed state, the lower support piece 38 is not exposed at the distal end surface 36. In the protruding state, it is possible to sandwich the transported object between the upper surface support piece 37 and the lower surface support piece 38.

[0030] The gripping unit 34, which is moved by the operation of the arm unit 29, is adjacent to one of the front, rear, left, and right sides of the transported object 1 and grips the transported object 1 from one of the sides. The posture of the gripping unit 34 when gripping the transported object 1 (hereinafter referred to as the "gripping posture") changes as the gripping unit 34 rotates about an axis in the vertical direction. In the front gripping posture, the gripping unit 34 is adjacent to the front side of the transported object 1, and the front side faces the tip surface 36 of the gripping unit 34 (see FIG. 3). In the rear gripping posture, the gripping unit 34 is adjacent to the rear side of the transported object 1, and the rear side faces the tip surface 36 (see FIG. 3). In the right gripping posture, the gripping unit 34 is adjacent to the right side of the transported object 1, and the right side faces the tip surface 36 (see FIG. 4). In the left gripping position, the gripping portion 34 is adjacent to the left side surface of the transported object 1, and the left side surface and the tip surface 36 face each other (see FIG. 4).

[0031] In each gripping posture, when the lower support piece 38 changes to a protruding state, the lower support piece 38 is inserted into a gap below the transported object 2 and supports the underside of the transported object 2. In this state, the upper support piece 37 descends and presses down on the upper surface of the transported object 1, so that the transported object 1 is gripped by the upper support piece 37 and the lower support piece 38. When the gripping unit 34 grips the transported object 1, the arm unit 29 operates, so that the gripping unit 34 moves and the transported object 1 is transported to the loading unit 8. While the gripping posture changes for each transported object 1, the posture of the gripping unit 34 relative to the loading unit 8 when loading the transported object 1 onto the loading unit 8 (hereinafter referred to as the "loading posture") is constant.

[0032] The operation of the gripping unit 34 and the relationship between the gripping position and the loading position will now be described with reference to the drawings. Because there are numerous patterns for the relationship between the gripping position and the loading position, each pattern will be referred to as a first to fourth embodiment. As a first embodiment, FIGS. 5 to 7 show the transport of the transported object 1 in a plan view and an outline of the gripping and loading positions. FIGS. 5 and 6 show the first-level transported object 1 (1) being placed on the loading unit 8, and FIG. 7 shows the second-level transported object 1 (11) being stacked on the first-level transported object 1 (1). (Hereinafter, the transported object 1 placed on the loading unit 8 will be referred to as the "lower-level transported object," and the transported object 1 stacked on the lower-level transported object will be referred to as the "upper-level transported object.") The transported object 1 is, for example, a stack of pamphlets, each of which is thicker at the seam 6 side than at the end opposite the seam 6 (the so-called "fore edge"). The respective embodiments are denoted by the same reference numerals. In addition, from the second embodiment onward, only the configurations different from the first embodiment will be mainly described, and the description of the same parts as those in the first embodiment will be omitted as appropriate.

[0033] First Embodiment As shown in Fig. 5 , the transported object 1 is placed on the support base 23 with the seam 6 facing to the right. In the first embodiment, when the arm 29 loads the transported object 1 onto the loading section 8, it arranges the transported object 1 on the loading section 8 with the seam 6 facing toward the front edge 9 of the loading section 8. The gripper 34 grips the transported object 1 in a right-side gripping position, transports the transported object 1 to the vicinity of the rear edge 10 and right edge 12 of the loading section 8, and then releases it. At this time, the loading position is such that the transported object 1 faces the upstream side and the gripper main body 35 faces the downstream side of the direction (arrow 39 in Fig. 5 ) in which the transported object 1 is arranged on the loading section 8 as the lower transported object 1 (1). In other words, the gripping main body 35 is in a position where the next lower-level transported object 1(2) is to be placed on the already placed lower-level transported object 1(1).

[0034] 6, the second, third, and tenth conveyed objects 1 are all gripped in the same right-side gripping position, and are arranged in the same stacking position for each conveyed object 1 in the direction of arrow 39. The lower conveyed objects 1(1) to (10) are placed with the seam 6 facing the front edge 9 of the stacking section 8. Therefore, if the upper conveyed objects are stacked in the same position as the lower conveyed objects 1(1) to (10), the seam 6 side will be bulky, and the upper conveyed objects may tilt toward the edge. By stacking the upper-level conveyed objects in the opposite direction to the lower-level conveyed objects 1(1) to (10), the ends of the upper-level conveyed objects are stacked on the side of the seam 6 of the lower-level conveyed objects 1(1) to (10) (the seam sides of the upper-level conveyed objects are stacked on the side of the seam 6 of the lower-level conveyed objects 1(1) to (10)), so the upper-level conveyed objects do not become bulky and tilt toward the side of the seam 6, and do not tip over.

[0035] To achieve the stacking method described above, in the first embodiment, the gripping posture of the transported object 1 stacked on the lower-level transported objects 1(1)-(10) is preset and changes depending on the posture of the transported object 1 when stacked on the lower-level transported objects 1(1)-(10). Specifically, as shown in FIG. 7, the gripping unit 34 grips the transported object 1 in a left-side gripping posture, transports the transported object 1 above the lower-level transported object 1(1), and releases it so that the posture of the upper-level transported object 1(11) is opposite to the posture of the lower-level transported objects 1(1)-(10). At this time, the loading posture is such that the upper-level transported object 1(11) faces the upstream side and the gripping main body 35 faces the downstream side in the direction (arrow 40 in FIG. 7) in which the transported objects 1 are arranged as the upper-level transported object 1(11). The transported objects 1 that become the upper transported objects 1 (11) are stacked in the same loading position in the direction of the arrow 40. That is, the gripping position (left-side gripping position) of the upper transported object 1 (11) and the gripping position (right-side gripping position) of the lower transported object 1 (1) are opposite to each other, but the loading position of the upper transported object 1 (11) is the same as the loading position of the lower transported object 1 (1).

[0036] In the first embodiment, when loading the transported objects 1 onto the loading section 8, the arm 29 can also arrange the transported objects 1 on the loading section 8 with the seam 6 facing the rear edge 10 of the loading section 8. In this case, the gripping section 34 grips the transported objects 1 in a right-side gripping position, transports the transported objects 1 to the vicinity of the front edge 9 of the loading section 8, and releases them. At this time, the loading position is such that the lower-level transported objects 1(1)-(10) are oriented toward the upstream side and the gripping main body 35 is oriented toward the downstream side of the direction in which the lower-level transported objects 1(1)-(10) are arranged on the loading section 8 (opposite the direction of the arrow 39 in FIG. 5). In addition, in the first embodiment, the lower-level transported objects 1(1)-(10) can also be arranged on the loading section 8 with the seam 6 facing the left edge 11 or the right edge 12 of the loading section 8.

[0037] <Second embodiment> Figures 8 and 9 show how lower-level transported objects 1 (1) to (10) are placed on the loading section 8, and Figure 10 shows how an upper-level transported object 1 (11) is stacked on the lower-level transported object 1 (1).

[0038] As shown in Figure 8, the gripping unit 34 grips the transported object 1 in the left gripping position, transports the transported object 1 to the vicinity of the front edge 9 and right edge 12 of the loading unit 8, and then releases it. At this time, the loading position is such that the lower transported object 1(1) faces the upstream side of the direction (arrow 41 in Figure 8) in which the transported objects 1 are lined up on the loading unit 8 as the lower transported object 1(1), and the gripping main body 35 faces the downstream side. As shown in Figure 9, the second, third to tenth transported objects 1 are all gripped in the same left gripping position, and are lined up in order in the direction of arrow 41 in the same loading position for each transported object 1.

[0039] As shown in Figure 10, the gripping unit 34 grips the transported object 1 in a right-side gripping position so that the position of the upper transported object 1 (11) is opposite to the position of the lower transported object 1 (1), and transports and releases the transported object 1 above the lower transported object 1 (1). At this time, the loading position is such that the upper transported object 1 (11) faces the upstream side and the gripping main body unit 35 faces the downstream side of the direction in which the transported objects 1 are lined up as the upper transported objects 1 (11) (arrow 42 in Figure 10). The transported objects 1 that become the upper transported objects 1 (11) are lined up in order in the direction of arrow 42 in the same loading position for each transported object 1. In other words, the gripping posture (right-side gripping posture) of the upper-level transported object 1 (11) and the gripping posture (left-side gripping posture) of the lower-level transported object 1 (1) are opposites, but the loading posture of the upper-level transported object 1 (11) is the same as the loading posture of the lower-level transported object 1 (1).

[0040] In the second embodiment, as in the first embodiment, the lower-level transported objects 1 (1) to (10) can also be arranged on the loading section 8 with the seam 6 facing the rear edge 10 of the loading section 8, or facing the left edge 11 or right edge 12 of the loading section 8.

[0041] <Third embodiment> Figures 11 and 12 show how lower-level transported objects 1 (1) to (10) are placed on the loading section 8, and Figure 13 shows how an upper-level transported object 1 (11) is stacked on the lower-level transported object 1 (1).

[0042] As shown in Figure 11, the gripping unit 34 grips the transported object 1 in the front gripping position, transports the transported object 1 to the vicinity of the rear edge 10 and right edge 12 of the loading unit 8, and then releases it. At this time, the loading position is such that the lower transported object 1(1) faces the upstream side and the gripping main body 35 faces the downstream side of the direction (arrow 43 in Figure 11) in which the transported objects 1 are lined up on the loading unit 8 as the lower transported object 1(1). As shown in Figure 12, the second, third to tenth transported objects 1 are all gripped in the same front gripping position, and are lined up in order in the direction of the arrow 43 with each transported object 1 in the same loading position.

[0043] As shown in Figure 13, the gripping unit 34 grips the transported object 1 in a rear gripping position so that the position of the upper transported object 1 (11) is opposite to the position of the lower transported object 1 (1), and transports and releases the transported object 1 above the lower transported object 1 (1). At this time, the loading position is such that the upper transported object 1 (11) faces the upstream side and the gripping main body unit 35 faces the downstream side of the direction in which the transported objects 1 are lined up as the upper transported object 1 (11) (arrow 44 in Figure 13). The transported objects 1 that become the upper transported object 1 (11) are lined up in order in the direction of arrow 44 in the same loading position for each transported object 1. In other words, the gripping posture (rear gripping posture) of the upper-level transported object 1 (11) and the gripping posture (front gripping posture) of the lower-level transported object 1 (1) are opposites, but the loading posture of the upper-level transported object 1 (11) is the same as the loading posture of the lower-level transported object 1 (1).

[0044] In the third embodiment, as in the first embodiment, the lower-level transported objects 1 (1) to (10) can also be arranged on the loading section 8 with the seam 6 facing the rear edge 10 of the loading section 8, or facing the left edge 11 or right edge 12 of the loading section 8.

[0045] <Fourth embodiment> Figures 14 and 15 show how the lower-level transported objects 1 (1) to (10) are placed on the loading section 8, and Figure 16 shows how the upper-level transported object 1 (11) is stacked on the lower-level transported object 1 (1).

[0046] As shown in Figure 14, the gripping unit 34 grips the transported object 1 in the rear gripping position, transports the transported object 1 to the vicinity of the front edge 9 and left edge 11 of the loading unit 8, and then releases it. At this time, the loading position is such that the lower transported object 1(1) faces the upstream side and the gripping main body 35 faces the downstream side of the direction (arrow 45 in Figure 14) in which the transported objects 1 are lined up on the loading unit 8 as the lower transported object 1(1). As shown in Figure 15, the second, third to tenth transported objects 1 are all gripped in the same rear gripping position, and are lined up in order in the direction of arrow 45 in the same loading position for each transported object 1.

[0047] As shown in Figure 16, the gripping unit 34 grips the transported object 1 in a front gripping position, transports the transported object 1 above the lower transported object 1 (1), and releases it so that the position of the upper transported object 1 (11) is opposite to the position of the lower transported object 1 (1). At this time, the loading position is such that the upper transported object 1 (11) faces the upstream side and the gripping main body unit 35 faces the downstream side of the direction in which the transported objects 1 are lined up as the upper transported object 1 (11) (arrow 46 in Figure 15). The transported objects 1 that become the upper transported object 1 (11) are lined up in order in the direction of arrow 46 in the same loading position for each transported object 1. In other words, the gripping posture (front gripping posture) of the upper-level transported object 1 (11) and the gripping posture (rear gripping posture) of the lower-level transported object 1 (1) are opposites, but the loading posture of the upper-level transported object 1 (11) is the same as the loading posture of the lower-level transported object 1 (1).

[0048] In the fourth embodiment, as in the first embodiment, the lower-level transported objects 1 (1) to (10) can also be arranged on the loading section 8 with the seam 6 facing the rear edge 10 of the loading section 8, or facing the left edge 11 or right edge 12 of the loading section 8.

[0049] Each embodiment is configured as described above. Next, the functions and effects of each embodiment will be described.

[0050] In each of the above-described embodiments, for example, when the lower-level transported object 1 (2) is gripped in a right-side gripping position, the upper-level transported object 1 (11) assumes a left-side gripping position, which is the exact opposite of the right-side gripping position. However, because the loading positions are the same, the lower-level transported object 1 (1) and the upper-level transported object 1 (11) are stacked in opposite left-right directions (see FIG. 7 ). Therefore, even if the loading position relative to the lower-level transported object 1 (1) and the loading position relative to the upper-level transported object 1 (11) are the same, the upper-level transported object 1 (11) stacked on the lower-level transported object 1 (1) will be in the opposite left-right direction. Therefore, the transported object 1 can be loaded while changing its orientation, and the transported object 1 can be stacked without tipping over.

[0051] In each embodiment, the transported object 1 is gripped in any one of a front gripping position, a rear gripping position, a left gripping position, or a right gripping position. For example, if the side of the second lower transported object 1(2) that does not face the tip surface 36 of the gripping main body portion 35 is placed adjacent to the first lower transported object 1(1) already placed on the stacking portion 8, the gripping portion 34 and the first lower transported object 1(1) will not interfere with each other. Because the loading position is the same for the lower transported object 1(1) and the upper transported object 1(11), they can be aligned in the same direction and stacked without interfering with the surrounding transported objects 1.

[0052] In each embodiment, the gripping posture changes as the gripper 34 rotates about an axis in the vertical direction relative to the arm 29. Therefore, the gripping posture can be changed according to the posture of the transported object 1 when the transported object 1 is loaded, and the same posture can be maintained for each transported object 1 by changing from the gripping posture to the loading posture.

[0053] In each embodiment, before the transported object 1 is gripped by the gripping section 34, the support platform 23 is raised with the transported object 1 placed thereon, creating a gap below the transported object 1 (see FIGS. 3 and 4). The lower support piece 38 enters the gap, and the transported object 1 is gripped by the lower support piece 38 and the upper support piece 37. Therefore, the transported object 1 can be gripped from any side, front, back, left, or right, and the gripping posture can be changed.

[0054] Note that other embodiments of the present invention other than those described above do not have a conveyor. In another embodiment, the support platform is divided into two parts, each arranged on the left and right sides across the second conveyor. The right support platform member is arranged on the right side of the second conveyor, and the left support platform member is arranged on the left side of the second conveyor. When a transported object is placed on the support platform, the right support platform member supports the right side of the underside of the transported object, and the left support platform member supports the left side of the underside of the transported object. Therefore, gaps are provided between the support platform members on the rear and front sides of the underside of the transported object. Another embodiment does not have a support platform. In another embodiment, the transported object is gripped from the top surface by being close to the top surface of the transported object.

[0055] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various design modifications can be made to the present invention without departing from the scope of the claims.

[0056] 1 (1) to (11) Conveyed object 6 Seam 7 Movable range 8 Loaded portion 9 Front edge portion 10 Rear edge portion 11 Left edge portion 12 Right edge portion 20 Transfer device 21 First conveyor 22 Second conveyor 23 Support base portion 24 Lifting drive portion 25 First support base member 26 Second support base member 27 Third support base member 28 Fourth support base member 29 Arm portion 30 First joint portion 31 Second joint portion 32 Third joint portion 33 Base 34 Gripper portion 35 Gripper main body portion 36 Tip surface 37 Upper surface support piece 38 Lower surface support piece 39 to 46 Arrows

Claims

1. A transfer device that grasps an object to be transported and transports and loads it onto a loading section, comprising: an arm section that rotates around a stationary base as a fulcrum; and a gripping section connected to the tip of the arm section; wherein the gripping posture, which is the posture of the gripping section when grasping the object to be transported, is changed according to the posture of the object to be transported when loading it onto the loading section; and the loading posture, which is the posture of the gripping section when loading the object to the loading section, is made the same for each object to be transported.

2. The transfer device according to claim 1, wherein the gripping portion grips the object by being adjacent to one of the sides of the object.

3. A transfer device according to claim 1 or 2, characterized in that the gripping part changes its position by rotating around an axis in the vertical direction.

4. A transfer device as described in claim 1 or claim 2, characterized in that when the transported objects are stacked, the gripping posture of the transported objects on the lower tier and the transported objects on the upper tier is opposite, so that the transported objects are stacked in the opposite direction.

5. A transfer device as described in claim 1 or claim 2, characterized in that it has a support base section that supports the transported object from below and leaves a gap below the transported object before the transported object is gripped by the gripping section, and the gripping section supports the underside of the transported object.

6. A transfer device according to claim 5, characterized in that the support platform section lifts and lowers the object by supporting at least the four corners of the underside of the object, with gaps at the front, rear and / or left and right of the underside of the object.

7. A transfer device according to claim 1 or 2, characterized in that it has a conveyor that transports the object, and the support base is disposed downstream of the conveyor.

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