JP2011219238A - Transporting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transporting apparatus which can change the attitude of an object to be transported, and yet has high transporting capacity.SOLUTION: In the transporting apparatus, a controlling means controls the holding operation of a holding part 25 in an attitude changing means 24, the moving operation of a moving means 27 and the rotating operation of a rotating means, the object W to be transported which is supported in a non-contact state is held by the holding part 25 at a holding position P3, and during the period of time when the holding part 25 is moved by the moving means 27 to thereby transport the object W to be transported which is supported in a non-contact state to a holding releasing position P4 downstream from the holding position P3 along the transporting direction, the holding part 25 is rotated by the rotating means while being moved by the moving means 27, consequently the transporting attitude of the object W to be transported is rotated at a prescribed angle around a vertical axis, and the holding of the object W to be transported is released at the holding releasing position P4.

Description

  The present invention provides a blower-type support means for supplying air toward a lower surface of a conveyed product to support the conveyed product in a horizontal posture or a substantially horizontal posture in a non-contact state, and a conveyed product supported by the blower-type support device. The conveying means provided with a propelling force applying means for applying a propulsive force in the conveying direction to the conveyed object and the conveyed object conveyed by the conveying means are rotated around the vertical axis to change the conveying attitude of the conveyed object. The present invention relates to a transport apparatus provided with a posture changing means for controlling, a control means for controlling the operation of the transport means and the posture changing means.

  The transport device supports the transported object in a non-contact state by the blow type support means, and applies the propulsive force in the transport direction to the transported object in the contact state by the propelling force applying means to transport the transported object. is there. For example, when transporting a glass substrate for an FPD such as a liquid crystal monitor as a transported object, the left and right central portions when the transport direction of the glass substrate is the front-rear direction are supported in a non-contact state by a blower-type support means. In order to transport while protecting the right and left center part to be productized in the glass substrate by applying a propulsive force by contacting the propelling force applying means to the left and right ends when the transport direction is the front-rear direction It has become.

  And when transporting a transported object between processing devices that perform processing such as processing on the transported object, when the processing posture of the transported product with respect to the transporting device is different between the processing device of the previous process and the processing device of the subsequent process, etc. Thus, it may be necessary to change the conveyance posture of the conveyed product conveyed by a conveying apparatus. As a conventional example of a transport apparatus that can change the posture of such a transported object, there is an attitude changing unit that changes the transport attitude of the transported object by rotating the transported object that is transported by the transporting device around the vertical axis. Some are provided (for example, refer to Patent Document 1).

  Conventionally, as described in Patent Document 1, a rotation position for changing a conveyance posture by rotating a conveyance object is set, and an adsorption unit that adsorbs to the bottom surface of the conveyance object and holds the conveyance object is set at the rotation position. The posture changing means is configured to be rotatable about the vertical axis and to be movable up and down. Then, the transported object is transported to the rotation position with the suction part lowered to the lowered position and stopped, and then the suction part is raised to the ascending position and the transported object is sucked and held by the suction part. By rotating the suction unit around the vertical axis by a set angle, the transported object is rotated to change the transport posture. Then, after the rotation of the conveyed product is completed, the adsorption holding by the adsorption unit is released, and the conveyance of the conveyed item is resumed after the adsorption unit is lowered to the lowered position.

JP 2005-145651 A

  Conventionally, the posture is changed by sucking and holding the picked-up part in a state where the conveyed product is stopped at a fixed rotational position in the carrying direction, and the posture is changed. When the rotation speed is increased, the inertia torque generated at the center of rotation of the conveyed product during acceleration and deceleration of the rotation speed becomes larger than the adsorption holding force of the adsorption unit, and the conveyance of the conveyance item by the adsorption unit is released and the rotation of the conveyance item is controlled. There is a risk that it will not be possible. Therefore, it is necessary to rotate the suction portion at a low speed, and it takes time to change the posture of the conveyed product. Further, while the conveyed product is being rotated by the posture changing means, the conveyed product remains stopped at the rotation position, and thus the movement along the conveying direction of the conveyed product by the conveying means is delayed. As described above, when the posture changing means is provided so that the posture of the conveyed product can be changed, there is a problem in that the conveyance capability as the conveyance device is lowered.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a transport device having a high transport capability while being able to change the posture of the transport object.

In order to achieve this object, the first characteristic configuration of the transport device according to the present invention is to supply air toward the lower surface of the transport object to support the transport object in a non-contact state in a horizontal posture or a substantially horizontal posture. A conveying means provided with a propulsive force applying means for applying a propulsive force in the conveying direction to a conveyed product supported by the air-type supporting means and the blower-type supporting means; In a transport apparatus provided with posture changing means for rotating around the center to change the transport posture of the conveyed product, and control means for controlling the operation of the transport means and the posture changing means,
The posture changing means engages with a plurality of ends in a plan view of the conveyed product supported in a non-contact state, and a holding unit capable of holding the conveyed product, and the holding unit around the vertical axis And a moving means for moving the holding portion along the conveying direction, and the control means holds the conveyed product in a non-contact state at the holding position. The movement unit moves the holding unit by the moving unit and moves the conveyance unit in a non-contact state from the holding position to the holding release position downstream from the holding position along the conveyance direction. Rotating the holding unit by the rotating unit while rotating the holding unit by the means, rotating the conveying posture of the conveyed item by a predetermined angle around the vertical axis, and holding the conveyed item at the holding release position. To cancel Holding operation of the serial holding portion, movement operation of said moving means, and, in that it is configured to control the rotation operation of the rotating means.

  According to this characteristic configuration, the transport means is controlled by the control means, so that the transported object is transported in the transport direction by the propulsive force of the propulsion force applying means while being supported in a non-contact state by the blower-type support means. Is done. The transport device includes posture changing means. The posture changing means has a holding unit that holds the conveyed product by engaging with a plurality of end portions in plan view of the conveyed product, and a vertical axis that holds the holding unit. Rotating means for rotating around the center and moving means for moving the holding part along the transport direction are provided. Then, by controlling the operation of the posture changing means by the control means, the holding object is held in the holding part by engaging the holding part with a plurality of ends in a plan view of the conveyed object, By rotating the holding unit that engages and holds the conveyed product, the conveying unit can rotate the conveying posture of the conveyed item by a predetermined angle around the vertical axis.

  In this way, by rotating the holding unit that holds the conveyed product by engaging with a plurality of ends in plan view of the conveyed product, the conveyed conveyed product is rotated about the vertical axis. Therefore, even if the rotation speed of the holding unit is increased, the conveyed product is hardly detached from the holding unit, and the conveyed product can be rotated at a high speed while being securely held by the holding unit. Therefore, the posture change of the conveyed product can be performed in a short time.

  In addition, since the control means controls the rotation means and the movement means to move the holding portion along the conveyance direction while rotating the holding portion, the conveyance object is rotated while being held by the holding portion at the holding position. Moving in the transport direction, the holding by the holding unit is released at the holding release position. In other words, the movement of the conveyance means in the conveyance direction is not delayed while the conveyance posture of the conveyance object is changed, and the conveyance object is moved along the conveyance direction even while the conveyance posture is changed. Therefore, the conveyance capability as a conveyance device becomes high.

  As described above, a transport apparatus having a high transport capability can be obtained while the posture of the transported object can be changed.

  A second characteristic configuration of the transport device according to the present invention is such that the holding portion engages with an end posture of the transported object and a release posture in which the engagement with the end portion is released. Provided with a plurality of engaging action portions whose postures can be switched by swinging around the center, and configured to hold the conveyed product when the engaging action portion is in the engaging posture and release the conveyed material when the releasing posture is reached. The control means is configured to control a posture switching operation of the engaging action portion at the holding position and the holding release position.

  According to this characteristic configuration, the plurality of engaging action portions that are engaged with the plurality of end portions in plan view of the conveyed product are swung around the horizontal axis so that the engagement posture and the release posture are obtained. By switching the posture, the operation of holding and releasing the conveyed product can be performed. Therefore, it is only necessary to change the postures of the plurality of engaging action parts that are a part of the holding part. Can be held and released. Therefore, the posture changing means can be made compact, and the holding and release of the conveyed product by the holding unit can be completed in a relatively short time. For example, when holding or releasing the conveyed product by the holding unit is performed in a state where the conveyed product is stopped, the stop time at the holding position or the holding release position can be shortened as much as possible, and a decrease in conveying ability can be suppressed.

  A third characteristic configuration of the transport device according to the present invention is configured such that the transport unit sequentially transports a plurality of transport objects, and the moving unit moves the holding unit between the holding position and the holding release position. It is configured to reciprocate along the transport direction of the transport means, and transports the transported material from the introduction position set upstream of the holding position to the holding position along the transport direction of the transport means Introducing conveying means for conveying while maintaining the conveying posture of the object is provided, and after the control means moves the holding portion holding the conveyed object from the holding position to the holding release position, It is configured to repeatedly control the operation of the posture changing means so as to return the holding portion in a non-holding state that does not hold a conveyed product to the holding position, and the holding of the holding portion in the holding state. Place In order to transport the subsequent transported object to the holding position after starting the movement from the holding position to the holding release position and ending the return movement of the non-holding holding section to the holding position. It is in the point comprised so that the action | operation of a conveyance means may be controlled.

  According to this characteristic configuration, the conveyance device is provided that conveys the conveyed product from the introduction position set upstream of the holding position to the holding position while maintaining the conveyance posture of the conveyed product along the conveyance direction of the conveyance unit. Thus, after starting to move the holding unit holding the conveyance object from the holding position to the holding release position, the holding unit not holding the conveyance object is moved back to the holding position. Until the position is reached, the subsequent transfer object can be transferred to the holding position by the introduction transfer means.

  That is, when a plurality of transported objects are sequentially transported, the holding unit moves from the holding position to the downstream holding release position while holding the preceding transported object, and then again with the transported object not held. While returning to the holding position, the subsequent transfer object is transferred to the holding position by the introduction transfer means, so that when the holding unit returns to the holding position in the non-holding state, the next holding target It can be in the state where the conveyed product is prepared in the holding position.

  In this way, by transporting the transported object from the introduction position to the holding position by the introduction transport unit, and by transporting the transported object from the holding position to the holding release position by the posture changing unit, The conveyed product can be efficiently conveyed while changing the posture.

  A fourth characteristic configuration of the transport device according to the present invention is such that the control unit starts the rotation of the holding unit and the movement of the holding unit from the holding position simultaneously or substantially simultaneously. In the point which is comprised so that the action | operation of a moving means may be controlled.

  According to this characteristic configuration, since the rotation of the holding unit starts at the same time as or substantially simultaneously with the movement of the holding unit from the holding position, when the holding unit returns and moves to the holding position, If the conveyed product has already been conveyed to the holding position, it is possible to immediately hold the conveyed product and start to rotate the conveyed posture of the conveyed product. Accordingly, since the distance that the holding body moves along the conveyance direction before the rotation of the conveyed product can be shortened as much as possible, the posture changing means can be configured compactly in the movement direction of the holding body.

  A fifth characteristic configuration of the transport device according to the present invention is configured such that the transport unit sequentially transports a plurality of transported objects, and the moving unit moves the holding unit between the holding position and the holding release position. The carriage is configured to reciprocate along the conveyance direction of the conveyance means between the conveyance release direction of the conveyance means from the hold release position to a derivation position set downstream of the hold release position. A derivation transport unit that transports the transported object while maintaining the transport posture of the transported object, and the control unit moves the holding unit holding the transported object from the holding position to the holding release position. After that, it is configured to repeatedly control the operation of the posture changing means so that the non-holding state holding unit that does not hold the conveyed product is returned to the holding position, and the holding unit in the holding state includes in front After releasing the conveyed product held in the state of being held at the holding release position, the holding unit holding the subsequent conveyed product is moved from the holding unit until the holding unit in the holding state is moved to the holding release position. In order to transport the released transported object from the holding release position, the operation of the lead-out transporting means is controlled.

  According to this characteristic configuration, the derivation transport unit that transports the transported object from the holding release position to the derivation position set downstream of the holding release position while maintaining the transport posture of the transported object along the transport direction of the transport unit. By releasing the transported object that is held in the state where the holding unit is positioned at the holding release position, and after moving the holding unit that holds the subsequent transported object to the holding release position, The conveyed product released from the holding unit by the means can be conveyed from the holding release position.

  That is, when a plurality of transported objects are sequentially transported, the holding unit releases the preceding transported object at the holding release position and then returns to the holding release position again while holding the subsequent transported object. In addition, since the preceding transported object is transported to the deriving position by the deriving and transporting means, when the holding unit returns to the holding release position, the previously released transported object is led out from the holding release position and held. It can be prepared so that the release position becomes empty.

  In this way, the conveyance object is divided and conveyed so that it is conveyed by the posture changing means between the holding position and the holding release position, and conveyed from the holding release position to the derivation position by the derivation conveyance means. The transported object can be efficiently transported while changing its posture.

  A sixth characteristic configuration of the transport device according to the present invention is such that the control unit ends the rotation of the holding unit and the movement of the holding unit to the holding release position simultaneously or substantially simultaneously. In the point which is comprised so that the action | operation of the said moving means may be controlled.

  According to this characteristic configuration, the rotation of the holding unit is completed at the same time or substantially simultaneously with the end of the movement of the holding unit to the holding release position. Thus, after the holding unit moves to the holding release position, the conveyed product can be immediately released at the holding release position and returned to the holding position to hold the subsequent conveyed product. Therefore, since the distance that the holding body moves along the carrying direction after the rotation of the conveyed product can be shortened as much as possible, the posture changing means can be configured compactly in the moving direction of the holding body.

Overall plan view of the transfer device Overall side view of transfer device Perspective view of transport unit Longitudinal section of the transport unit Vertical section of posture change module Schematic diagram of posture change means Enlarged view of the end of the rotating arm Side view of introduction conveyor Control block diagram of control device Flow chart of control operation of control device Transfer action diagram of transfer device Transfer action diagram of transfer device Operation timing chart of each device in the transport device

  An embodiment of a transport apparatus according to the present invention will be described with reference to the drawings, taking as an example a transport apparatus 1 that transports a glass substrate W for liquid crystal display as a transported object.

  As shown in FIGS. 1 and 2, the transport device 1 includes an upstream conveyor 2 and a downstream conveyor 3 that are arranged in a straight line so that the respective transport directions are the same direction, and the upstream conveyor 2 and the downstream conveyor. A posture change module 4 disposed between the side conveyors 3, and a control device H that controls the operations of the upstream conveyor 2, the downstream conveyor 3, and the posture change module 4.

  The transport apparatus 1 sequentially transports the plurality of glass substrates W from the upstream side to the downstream side along the linear transport path with the direction from left to right in FIGS. 1 and 2 as the transport direction, and the linear transport path In the middle, the glass substrate W is rotated about the vertical axis X 1 so that the conveying posture of the glass substrate W can be changed from the upstream posture in the upstream conveyor 2 to the downstream posture in the downstream conveyor 3. In the present embodiment, the upstream conveyor 2 transports the glass substrate W in a posture in which the short direction is along the transport direction, and the downstream conveyor 3 transports the glass substrate W in a posture in which the longitudinal direction is along the transport direction. To do.

  The upstream conveyor 2, the downstream conveyor 3, and the posture changing module 4 constitute a conveying means D that includes the blower-type support means 10 and the propulsion force applying means 11. The control device H functions as a control unit that controls the operation of the transport unit D. Hereinafter, the upstream conveyor 2, the downstream conveyor 3, and the attitude changing module 4 will be described in detail.

  Each of the upstream conveyor 2 and the downstream conveyor 3 is configured by arranging a plurality of transport units 6 installed on the gantry 5 in a state of being aligned in the transport direction and connecting adjacent ones to each other. . Since the transport unit 6a of the upstream conveyor 2 and the transport unit 6b of the downstream conveyor 3 have the same basic configuration except for the length in the left-right direction (the vertical direction in FIG. 1), the upstream conveyor The conveyance unit 6 will be described by way of an example of the conveyance unit 6a constituting the No. 2, and the explanation of the conveyance unit 6b constituting the downstream conveyor 3 will be omitted.

  As shown in FIGS. 3 and 4, the transport unit 6 a includes a case body 9 including an upper surface cover 7 and a support frame 8, and is provided with a blowing type support unit 10 a and a propulsion force applying unit 11 a.

  The blower-type support means 10a of the transport unit 6a includes a plurality of fan filter units 12 that supply clean air toward the lower surface of the glass substrate W and a large number of vent holes 13a. And a wind regulation plate 13 for regulating the clean air supplied to the lower surface of the glass substrate W. The fan filter unit 12 is connected and fixed to the support frame 8, a dust removal filter 14 that removes dust, and an electric blower fan 15 that supplies clean air to the lower surface of the glass substrate W through the dust removal filter 14. Are assembled integrally. The blower-type support means 10a includes a total of four fan filter units 12 in which two fan filter units 12 are arranged adjacent to each other in the front-rear direction, and two fan filter units 12 are arranged at intervals in the left-right direction. In addition, an introduction conveyor 29, which will be described later, can protrude upward from the air blowing support means 10a in the downstream portion of the air conditioning plate 13 of the air blowing support means 10a of the transport unit 6a adjacent to the posture changing module 4 on the upstream side. The introduction conveyor slit 13b is formed along the conveying direction.

  The propulsive force applying means 11a of the transport unit 6a is arranged side by side along the transport direction at both end portions in the left-right direction, and the lower surfaces of the left and right end portions of the glass substrate W supported in a non-contact state by the blower-type support means 10a. Are provided with a plurality of drive rollers 16 for applying a propulsive force in the conveying direction to the glass substrate W, and a drive roller motor M1 for rotating these drive rollers 16 (see FIG. 9).

  The support frame 8 of the case body 9 that supports the drive roller 16 and the drive roller motor M1 is conveyed to the bottom plate 18 having an air introduction port 17 for introducing external air on the lower surface and both sides of the support frame 8 in the left-right direction. It comprises a pair of left and right storage frames 19 provided in a fixed state along the direction. An upper surface cover 7 is provided over the storage frames 19 on both sides. Each of the pair of left and right storage frames 19 includes a drive mechanism including a drive roller motor M1 and a transmission shaft 20 that distributes the rotational drive force of the drive roller motor M1 to the plurality of drive rollers 16. The driving roller 16 includes a large-diameter portion 16a that contacts the side surfaces of both end portions in the left-right direction of the glass substrate W and receives movement of the glass substrate W in the left-right direction.

  Next, the configuration of the posture change module 4 will be described. As shown in FIGS. 1, 2 and 5, the posture changing module 4 includes a blower-type support means 10b and a propulsive force applying means 11b on a case body 23 comprising an upper surface cover 21 and a support frame 22 having a substantially rectangular shape in plan view. It is configured with.

  The blowing type support means 10b of the posture changing module 4 is configured in the same manner as the blowing type support means 10a of the transport unit 6. That is, as shown in FIG. 5, a plurality of fan filter units 12 that supply clean air toward the lower surface of the glass substrate W and a large number of vent holes 13 a are formed and placed and supported on the fan filter unit 12. And a wind regulation plate 13 for regulating the clean air supplied to the lower surface of the glass substrate W. The fan filter unit 12 is connected and fixed to the support frame 23, a dust removal filter 14 that removes dust, and an electric blower fan 15 that supplies clean air to the lower surface of the glass substrate W through the dust removal filter 14. Are assembled integrally.

  The blowing type support means 10b of the attitude change module 4 includes a plurality of fan filter units 12 mounted and supported on the support frame 22 in a state adjacent to the front-rear direction, but the number arranged in the left-right direction is downstream from the upstream side. It differs in the conveyance direction as 2, 3, and 2 toward the side. The size and posture of the two fan filter units 12 arranged at the upstream end and the two fan filter units 12 arranged at the downstream end are the same, and the sizes of these fan filter units 12 are the same. The height and posture are different from the size and posture of the three fan filter units 12 located in the middle in the transport direction. Further, an upstream portion of the air conditioning plate 13 in the air blowing support means 10b of the attitude changing module 4 is disposed upstream of the attitude changing module 4 so that an introduction conveyor 29 described later can protrude upward from the air blowing support means 10b. An introduction conveyor slit 13c is formed so as to be continuous with the introduction conveyor slit 13b formed in the air conditioning plate 13 of the blower-type support means 10a of the adjacent transport unit 6a (see FIG. 1).

  The posture changing module 4 includes posture changing means 24 for rotating the glass substrate W around the vertical axis X1. The propulsive force applying means 11b of the posture changing module 4 is also used as the posture changing means 24. .

  As shown in FIGS. 2, 5, and 6, the posture changing unit 24 is engaged with a plurality of ends in a plan view of the glass substrate W supported in a non-contact state by the blower-type support unit 10 b. As a result, the rotating arm 25 as a holding part capable of holding the glass substrate W, the rotating part 26 as rotating means for rotating the rotating arm 25 around the longitudinal axis X1, and the rotating arm 25 are moved along the transport direction. And a slide portion 27 as a moving means.

  As shown in FIGS. 5, 6, and 7, the rotary arm 25 is disposed above the height of the glass substrate W supported in a non-contact state by the blower-type support means 10 b, and both ends thereof The position of the glass substrate W by swinging about the horizontal axis Y1 is engaged between an engagement posture that engages with a pair of end portions in plan view and a release posture that releases the engagement with these end portions. A pair of chuck portions 28 are provided as a plurality of switchable engaging portions. The glass substrate W is held when the pair of chuck portions 28 are in the engagement posture, and the glass substrate W is released when the pair of chuck portions 28 is in the release posture. Although not described in detail, chuck motors M <b> 2 (see FIG. 9) that switch and drive the postures of the pair of chuck portions 28 are provided at both ends of the rotary arm 25.

  The rotary arm 25 is constituted by a long hollow member having a length corresponding to the length of the short side of the rectangular glass substrate W in plan view, and each of the pair of chuck portions 28 provided at both ends is provided. The glass substrate W is held by engaging with the substantially central portion of the long side of the glass substrate W. Each of the pair of chuck portions 28 includes two contact pieces 28a and 28b arranged in the direction of the horizontal axis Y1, and two contact pieces with respect to a substantially central portion of the long side of the glass substrate W. When the pair of chuck portions 28 are in the engagement posture, the relative rotation of the glass substrate W with respect to the rotating arm 25 is restricted by the contact of the two portions 28a and 28b. An elastic member such as urethane rubber is provided on the contact surfaces of the contact pieces 28a and 28b in the pair of chuck portions 28 so that the glass substrate W and the pair of chuck portions 28 can be in elastic contact.

  The rotation unit 26 detects the rotation position of the rotation arm 25 by detecting the rotation motor M3 (see FIG. 9) that rotates the rotation arm 25 in both forward and reverse directions and the rotation drive amount of the rotation motor M3. A rotary position detecting rotary encoder RE1 (see FIG. 9) is provided as position detecting means.

  The slide part 27 is guided by the guide rail 27a provided along the transport direction in a state where a plurality of positions are supported by a pair of front and rear support frames 22a provided in the support frame 22, and the glass substrate W is guided by the guide rail 27a. Between the backward limit for positioning the glass substrate W at the holding position P3 (see FIG. 11B) and the forward limit for positioning the glass substrate W at the holding release position P4 (see FIG. 12D). A slide block 27b and a moving motor M4 (see FIG. 9) are provided to drive the slide block 27b forward from the upstream to the downstream in the transport direction and to drive backward from the downstream to the upstream in the transport direction. Further, at both front and rear ends of the guide rail 27a, a holding position detection sensor S3 (see FIG. 9) that detects the slide block 27b in the backward limit, and a holding release position detection that detects the slide block 27b in the forward limit. A sensor S4 (see FIG. 9) is provided.

  At the holding position P <b> 3, the control device H changes the posture of the pair of chuck portions 28 of the rotary arm 25 from the release posture to the holding posture, and the glass substrate W is held by the rotary arm 25. At the holding release position P <b> 4, the control device H changes the posture of the pair of chuck portions 28 of the rotating arm 25 from the holding posture to the releasing posture, and the glass substrate W is released from the rotating arm 25. That is, the control device H is configured to control the posture switching operation of the pair of chuck portions 28 at the holding position P3 and the holding release position P4.

  The posture changing means 24 is operated by the slide portion 27 while rotating the rotating arm 25 around the vertical axis X1 by the rotating portion 26 in a state where the pair of chuck portions 28 are switched to the engaging posture engaging with the glass substrate W. By moving the rotating unit 26 along the guide rail 27a along the transport direction, the glass substrate W is rotated around the vertical axis X1, and a propulsive force in the transport direction is applied to the glass substrate W for transport. Transport in the direction.

  As described above, the posture changing module 4 includes the posture changing unit 24 that also serves as the propulsive force applying unit 11b. In addition to the posture changing function of the glass substrate W, the posture changing module 4 comes into contact with the glass substrate W in the transport direction. It has a function to give propulsion. The movement direction of the rotation longitudinal axis X1 of the rotary arm 25 which is the conveyance direction by the posture changing module 4 is the same as the conveyance direction of the upstream conveyor 1 and the downstream conveyor 2, and from left to right in FIGS. It is the direction along.

  As shown in FIGS. 1, 4, 5, and 11, the transfer device 1 moves the glass substrate W along the transfer direction from the introduction position P <b> 2 set upstream of the holding position P <b> 3 to the holding position P <b> 3. An introduction conveyor 29 is provided as introduction conveyance means for conveying the glass substrate W while maintaining the conveyance posture. A pair of left and right stoppers 40 for receiving the downstream end of the glass substrate W conveyed by the introduction conveyor 29 are provided in the posture changing module 4.

  As shown in FIG. 1, one pair of stoppers 40 is provided for each of two gaps formed between three fan filter units 12 arranged in the left-right direction at an intermediate position in the conveyance direction of the posture change module 4. Has been placed. The pair of stoppers 40 rotate the stopper raising / lowering motor M9 (see FIG. 9) in the forward and reverse directions so that the two downstream edges of the glass substrate W conveyed to the holding position P3 by the introduction conveyor 29 are provided. The rising position that restricts the movement of the glass substrate W in the transport direction downstream while maintaining the glass substrate W in the upstream posture, and the lowering that allows the glass substrate W to move downstream in the transport direction The position is switchable (see FIGS. 11 and 12).

  In addition, as shown in FIG. 1, the transfer device 1 moves the glass substrate W from the holding release position P4 to the lead-out position P5 set downstream of the holding release position P4 along the transfer direction. A lead-out conveyor 30 is provided as a lead-out transport means for transporting while maintaining the transport posture. Although the introduction conveyor 29 and the outlet conveyor 30 have the same basic configuration, although the arrangement positions are different, the introduction conveyor 29 will be specifically described as an example.

  As shown in FIGS. 1, 4, 5, and 8, the introduction conveyor 29 is configured to contact and support the central portion in the left-right direction of the glass substrate W in the upstream posture (downstream posture in the case of the lead-out conveyor 30). A side belt type propulsive force applying unit 31 is provided. As shown in FIGS. 4 and 5, the introduction-side belt-type propulsive force imparting portion 31 is formed by arranging two fan filter units 12 in the left-right direction to form a narrow gap in the front-rear direction that is formed at the intermediate position in the left-right direction. G is provided.

  As shown in FIG. 8, the introduction side belt-type propulsive force applying means 31 is positioned upstream in the transport direction and is rotated by the introduction conveyor drive motor M5, and rotation is positioned upstream in the transport direction. A free driven wheel 33, a timing belt 34 wound around the driving wheel 32 and the driven wheel 33, contacting and supporting the lower surface of the glass substrate W, and a feeding path portion in the timing belt 34 are provided. It is comprised from the inner support ring 35 supported from the inner peripheral surface side, and the support frame 36 which supports these. As shown in FIG. 8, the support frame 36 is provided with a pair of front and rear introduction conveyor raising and lowering motors M <b> 6 for raising and lowering the introduction side belt-type propulsive force applying unit 31. An output gear 37 of M6 and a rack 38 formed on the side surface of the fan filter unit 12 are meshed with each other.

  By driving and rotating the pair of introduction conveyor lifting / lowering motors M6 in the forward and reverse directions in a synchronized state, the introduction-side belt type propulsive force applying unit 31 has the outer peripheral surface of the upper path portion of the timing belt 34 and the upstream conveyor 2 and The rising position that is positioned above the air conditioning plate 13 provided in the posture changing module 4 and that can freely contact the lower surface of the glass substrate W, and the outer peripheral surface of the upper path portion of the timing belt 34 are the upstream conveyor 2 and the posture changing module 4. It is configured to be vertically movable up and down to a lowered position that is positioned below the air conditioning plate 13 provided and does not contact the lower surface of the glass substrate W. When the belt-type propelling force applying unit 31 moves up and down, the slits 13b and 13c formed in a state where the upper path portion of the timing belt 34 continues to the air conditioning plate 13 provided in the upstream conveyor 2 and the posture changing module 4, respectively. Will pass.

  The lead-out conveyor 30 includes a lead-out conveyor driving motor M7 and a pair of lead-out conveyor raising / lowering motors M8 (see FIG. 9). By rotating the outlet conveyor driving motor M7, the timing belt of the outlet side belt type propulsive force applying means 39 is wound, and the inlet conveyor lifting motor M8 is driven and rotated in the forward and reverse directions in a synchronized state. As a result, the lead-out side belt type propulsive force applying means 39 moves up and down.

  Next, the control configuration of the transport apparatus 1 will be described. As shown in FIG. 9, the control device H that controls the operation of the conveying device 1 includes an electric motor and a fan included in the upstream conveyor 2, the introduction conveyor 29, the posture changing module 4, the outlet conveyor 30, and the downstream conveyor 3. The filter unit 12 and various sensors are connected.

  The control device H is connected to a load sensor S1 for a preparation position in the transport unit 6a at the most downstream side of the upstream conveyor 2, a plurality of drive roller motors M1 and a plurality of fan filter units 12 in each transport unit 6a. . The stock sensor S1 for the preparatory position of the upstream conveyor 2 has transported the glass substrate W to the preparatory position P1 (see FIG. 11A) set at the downstream end in the transport direction of the upstream conveyor 2. This is an optical sensor for detecting this.

  Similarly, the control device H is connected to a completion position load sensor S2 in the most upstream transport unit 6b of the downstream conveyor 3, a plurality of drive roller motors M1 and a plurality of fan filter units 12 in each transport unit 6b. Has been. The completion position in-stock sensor S2 of the downstream conveyor 3 has transported the glass substrate W to the completion position P6 (see FIG. 12E) set at the upstream end in the transport direction of the downstream conveyor 3. This is an optical sensor for detecting this.

  The control device H includes a pair of chuck motors M2, a rotation motor M3, a movement motor M4, a rotary position detection rotary encoder RE1, a pair of stopper lifting / lowering motors M9 and a plurality of motors in the posture changing means 24 of the posture changing module 4. The fan filter unit 12 is connected.

  The control device H is connected to an introduction conveyor drive motor M5 of the introduction conveyor 29 and a pair of introduction conveyor lifting motors M6. Similarly, the control device H is connected to a motor M7 for driving the outlet conveyor 30 and a motor M8 for raising and lowering the outlet conveyor.

  The control device H holds the glass substrate W supported in a non-contact state by the rotating arm 25 at the holding position P3, and moves the rotating arm 25 by the slide unit 27 to hold the glass substrate W along the transport direction. While the glass substrate W supported in a non-contact state is transported to the holding release position P4 on the downstream side, the rotating arm 25 is rotated and held by the rotating unit 26 while the rotating arm 25 is moved by the slide unit 27. The holding posture of the rotating arm 25 and the moving operation of the slide portion 27 are performed so as to rotate the transport posture of the glass substrate W 90 degrees around the vertical axis X1 and release the holding of the glass substrate W at the holding release position P4. And the rotation operation of the rotation part 26 is controlled.

  The control device H moves the holding rotary arm 25 holding the glass substrate W from the holding position P3 to the holding release position P4, and then moves the non-holding rotary arm 25 not holding the glass substrate W. In order to return to the holding position P3, the holding operation of the rotating arm 25, the moving operation of the slide portion 27, and the rotating operation of the rotating portion 26 are repeatedly controlled.

  The control device H controls the operation of the rotating unit 26 and the slide unit 27 so that the rotation of the rotating arm 25 in the holding state and the movement of the rotating arm 25 in the holding state from the holding position P3 are started simultaneously or substantially simultaneously. At the same time, after the movement of the holding arm P3 from the holding position P3 to the holding release position P4 is started, the subsequent movement of the non-holding rotary arm 25 to the holding position P3 is terminated. In order to transport the substrate W to the holding position P3, the operation of the introduction conveyor 29 is controlled.

  The control device H controls the operation of the rotating unit 26 and the slide unit 27 so that the rotation of the rotating arm 25 in the holding state and the movement of the rotating arm 25 in the holding state to the holding release position P4 are completed simultaneously or substantially simultaneously. At the same time, after the glass substrate W held in the state where the rotary arm 25 in the holding state is located at the holding release position P4 is released, the rotary arm 25 in the holding state holding the subsequent glass substrate W is held. The operation of the lead-out conveyor 30 is controlled so that the glass substrate W released from the rotary arm 25 is transported from the holding release position P4 until it is moved to the release position P4.

  The control operation of the control device H will be described with reference to the flowchart of FIG. 10 and the operation diagrams of FIGS. The flowchart of FIG. 10 shows the upstream conveyor that is generated while the glass substrate W that has been transported to the preparation position P1 by the upstream conveyor 2 is transported in the transport direction from the preparation position P1 to the completion position P6. 2, operations of the downstream conveyor 3, the posture changing module 4, the introduction conveyor 29, and the lead-out conveyor 30 are shown.

  In addition, among the left and right three rows of step groups shown in FIG. 10, the left row step group shows the operations of the upstream conveyor 2, the downstream conveyor 3, the introduction conveyor 29, and the outlet conveyor 30, and the center row step group is the posture. The operation of the changing means 24 is shown, and the step group in the right column shows the operation of the stopper 40.

  First, in step # 1 to step # 4, when it is detected by the preparatory position stock sensor S1 that the glass substrate W has been transported to the preparatory position P1, the glass substrate W located at the preparatory position P1 is moved upstream. It conveys in the upstream attitude | position to the introduction position P2 in the conveyance unit 6a of the most downstream of the conveyor 2 (refer Fig.11 (a)). During this time, at step # 2, the introduction conveyor 29 located at the lowered position is started to rise, and at step # 3, the conveying operation of the introduction conveyor 29 is started. Thereby, the glass substrate W conveyed by the upstream conveyor 2 to the introduction position P2 is immediately taken over by the introduction conveyor 29, and is conveyed toward the holding position P3. Note that the conveying operation may be started before the introduction conveyor 29 is switched to the raised position.

  The glass substrate W transported to the holding position P3 is oriented in the transport direction with respect to the central portion in the left-right direction at the introduction conveyor 29 while the left and right ends of the upstream portion are guided by the downstream end of the upstream conveyor 2. Therefore, it is conveyed in a state in which the posture is maintained in the upstream posture until immediately before being conveyed to the holding position P3. Then, the glass substrate W is positioned at the holding position P3 by receiving two positions on the single side upstream of the glass substrate W by the pair of left and right stoppers 40 included in the posture changing module 4 (FIG. 11B). reference).

  In step # 5, after the conveying operation of the introduction conveyor 29 is stopped, in step # 6, the introduction conveyor 29 is switched to the lowered position, and in step # 7, the chuck portion 28 is switched from the release posture to the engagement posture. At # 8, the pair of stoppers 40 are switched to the lowered position.

  In step # 9, the attitude changing means 24 starts changing the attitude of the glass substrate W and moving along the transport direction. That is, the rotation in the positive direction (clockwise) around the vertical axis X1 of the rotary arm 25 and the movement toward the downstream side in the transport direction are started simultaneously. Thus, the glass substrate W securely held by the rotating arm 25 by the chuck portion 28 engaging with each of the opposing long sides rotates from the upstream posture to the downstream by rotating around the vertical axis X1. While the posture is changed to the side posture, it is moved along the transport direction to the holding release position P4 (see FIG. 11C).

  When the glass substrate W approaches or arrives at the holding release position P4, the lead-out conveyor 30 is switched from the lowered position to the raised position in step # 10, and the lead-out conveyor 30 is prepared. In step # 11, the posture change of the glass substrate W by the posture change means 24 and the movement along the transport direction are completed. That is, the rotation in the positive direction (clockwise) around the vertical axis X1 of the rotary arm 25 and the movement toward the downstream side in the transport direction are finished simultaneously.

  The stop control of the rotation operation and the movement operation of the rotation arm 25 is based on detection information of the rotation position detection rotary encoder RE1 that detects the rotation position of the rotation arm 25, the holding position detection sensor S3, and the holding release position detection sensor S4. Feedback controlled.

  As described above, the rotation operation and the movement operation of the rotary arm 25 are started at the same time or substantially simultaneously and are ended at the same time or substantially simultaneously. That is, the rotation speed and the movement speed of the rotary arm 25 are the time required for the rotary unit 26 to rotate the rotary arm 25 by 90 degrees, and the slide unit 27 moves the rotary arm 25 from the holding position P3 to the holding release position P4. The required time for making them substantially coincides with each other.

  When the rotation operation and the movement operation of the rotation arm 25 are stopped, the chuck portion 28 is switched from the engagement posture to the release posture in step # 12, and the glass substrate W is released at the holding release position P4. In step # 13, the conveying operation of the derivation conveyor 30 in the raised position is started, and the glass substrate W is conveyed from the holding release position P4 to the derivation position P5 while maintaining the downstream posture (see FIG. 12D). ). Thereby, the glass substrate W conveyed by the attitude | position change means 24 to the holding | maintenance release position P4 is immediately taken over by the derivation conveyor 30, and is conveyed toward the derivation | leading-out position P5. The transfer operation may be started before the lead-out conveyor 30 is switched to the raised position.

  The rotating arm 25 that has held the glass substrate W to be transported to the holding release position P4 moves the glass substrate W to be transported from the holding release position P4 when the chuck portion 28 is switched to the release posture in step # 12. While being transported to P5 by the lead-out conveyor 30, in order to transport the subsequent glass substrate W, it is retracted to the holding position P3 in Step # 15 to Step # 16, and the rotational position for the holding position P3 Until the glass substrate W following the glass substrate W can be held at the holding position P3 (see FIGS. 12D and 12E).

  Further, the pair of stoppers 40 for positioning the glass substrate W at the holding position P3 is a pair of the glass substrate W to be transported at the lowered position when the rotary arm 25 moves forward and forward in steps # 9 to # 10. After passing over the stopper 40, it is returned to the raised position in step # 14. Thereby, before the return movement to the holding position P3 and the reverse rotation of the rotating arm 25 are completed, the subsequent glass substrate W to be transferred next is transferred in advance from the preparation position P1, and the introduction position P3 is previously set. It can be made to stand by in an upstream attitude | position (refer FIG.12 (e)).

  The glass substrate W transported to the lead-out position P5 is oriented along the transport direction with respect to the central portion in the left-right direction at the lead-out conveyor 30 while the left and right ends of the downstream portion are guided by the upstream end of the downstream conveyor 3. Because the propulsive force is applied, the sheet is transported in a state where the posture is maintained in the downstream posture (see FIG. 12D).

  When the glass substrate W is transported to the lead-out position P5, the transport operation of the lead-out conveyor 30 is stopped at step # 18, and the lead-out conveyor 30 is switched to the lowered position at step # 19. And the glass substrate W conveyed to the derivation | leading-out position P5 is conveyed in the downstream attitude | position to the completion position P6 by the downstream conveyor 3 in step # 17-step # 20 (refer FIG.12 (e)).

  According to the control operation of the control device H described above, the leading conveyor 29, the posture changing module 4 and the derivation conveyor 30 share and convey the glass substrate W from the introduction position P2 to the derivation position P5. It is possible to carry the subsequent glass substrate W while carrying the substrate W. Specifically, as shown in FIG. 13, while the rotary arm 25 of the posture changing module 24 holds the glass substrate W to be transported at the holding position P3 and moves from the holding position P3, the upstream conveyor 2 Then, the succeeding glass substrate W is transported from the preparation position P1 to the introducing position P2, and the succeeding glass substrate is transported to the holding position P3 by the introducing conveyor 29 and prepared until the rotating arm 25 returns to the retaining position P3. I can keep it.

  As a result, as shown in the timing chart of FIG. 13, the glass substrate W is transported from the preparation position P <b> 1 to the required time for transporting one glass substrate W from the preparation position P <b> 1 to the completion position P <b> 6. It is possible to shorten the tact time from the start to the start of conveyance from the preparation position P1 for the next glass substrate W that follows. For example, if one square is 2 seconds in the timing chart of FIG. 13, the required transfer time for one glass substrate W is 33 seconds, while the tact time is approximately 17 seconds. In this way, the conveyance efficiency when sequentially conveying the plurality of glass substrates W along the conveyance direction while changing the posture from the preparation position P1 is improved.

[Another embodiment]

(1) Regarding the stop control of the moving operation of the rotary arm 25, a holding position detection sensor S3 and a holding release position detection sensor S4 are provided at both front and rear ends of the guide rail 27a, and based on detection information of these sensors. Although what performed feedback control was illustrated, it is not restricted to this, The position in the conveyance direction of the rotation arm 25 or the position in the guide rail 27a is detected by detecting the movement amount from the movement start position (for example, backward limit) of the slide part 27. It is also possible to provide a moving position detecting means for detecting the above and feedback control based on detection information of the moving position detecting means. Further, the moving operation of the rotary arm 25 may be feedback-controlled based on the detection information of the rotary position detecting rotary encoder RE1. In this case, it is preferable that the rotating unit 26 and the slide block 27b are linked and linked so that the moving operation of the rotating arm 25 by the sliding unit 27 and the rotating operation of the rotating arm 25 by the rotating unit 26 are linked.

(2) As for the stop control of the conveyance operation of the introduction conveyor 29, the feedforward control may be performed so that the conveyance operation of the introduction conveyor 29 is stopped in step # 3 in FIG. A holding position occupancy sensor that detects that the glass substrate W has been conveyed may be provided at the position P3, and feedback control may be performed so as to stop the conveyance operation based on the detection information of the holding position occupancy sensor. .

(3) In the above embodiment, the glass substrate W is conveyed by the introduction conveyor 29 from the introduction position P2 to the holding position P3. However, the movement range in the conveyance direction of the rotary arm 25 is not provided without providing the introduction conveyor 29. Is extended to the upstream side, the holding position is set to a position corresponding to the introduction position P2 in the above embodiment, and the glass substrate W is held by the control device H at a position corresponding to the introduction position P2 in the above embodiment. Thereafter, the operation of the rotating unit 26, the moving unit 27, and the chuck unit 28 is controlled so that the rotation of the rotating arm 25 is started after the rotating arm 25 is moved by the set amount downstream without rotating the rotating arm 25. Also good.

(4) In the above embodiment, the glass substrate W is conveyed by the derivation conveyor 30 from the holding release position P4 to the derivation position P5. However, the rotation arm 25 is moved in the conveyance direction without providing the derivation conveyor 30. The range is extended to the downstream side, the holding release position is set to a position corresponding to the lead-out position P5 in the above embodiment, and the rotating arm 25 holding the glass substrate W is controlled by the control device H in the above embodiment. The rotation unit 26 and the rotation unit 26 are configured to move the set amount downstream in the transport direction without rotating from the position corresponding to the holding release position P4 and to release the holding of the glass substrate W at the position corresponding to the lead-out position P5 in the above embodiment. You may control the action | operation of the moving part 27 and the chuck | zipper part 28. FIG.

(5) In the above embodiment, the introduction conveying means and the derivation conveying means are exemplified by a belt conveyor that can be raised and lowered. It may be configured to be freely movable in the transport direction. Moreover, you may comprise so that the protrusion engaged with the upstream edge part in the bottom face of a conveyed product can be reciprocated and can be raised-lowered freely.
Furthermore, you may comprise the belt with a protrusion with which the protrusion engaged with the upstream edge part in the bottom face of a conveyed product protruded in the winding outward side of an endless belt. The winding path of the belt with protrusions is disposed below the bottom surface of the conveyed product supported in a non-contact state by the blowing type supporting means, and the blowing type supporting means is used when the protrusion is positioned at the upper winding portion. If it is configured to be located at a height that protrudes upward from the bottom surface of the conveyed product supported in a non-contact state, the belt with protrusions does not have to be provided so as to be movable up and down. In this case, in order to provide a plurality of protrusions, an interval along the winding direction of adjacent protrusions in the winding direction may be set longer than the transport distance of the introduction transport unit.

(6) In the above embodiment, the introduction conveying unit and the derivation conveying unit are illustrated below the conveyance object to be conveyed, but instead of this, the conveyance conveying the introduction conveying unit or the derivation conveying unit is performed. It may be placed above the object.

(7) In the said embodiment, the upstream conveyor 2 conveys the glass substrate W in the attitude | position in which the transversal direction follows a conveyance direction, and the downstream conveyor 3 conveys in the attitude | position in which the longitudinal direction follows a conveyance direction. Although the thing was illustrated, you may convey by the attitude | position contrary to this.

(8) In the above embodiment, the holding portion includes two engaging action portions that engage with the opposing short sides of the rectangular object in plan view at both ends, and in the short direction of the object to be conveyed. Although what hold | maintains a conveyed product in the attitude | position which follows is illustrated, the specific structure of a holding | maintenance part is not limited to this. For example, it may be provided with three or more engaging action parts, and as an example, it is provided with four engaging action parts that engage with each of the four sides of the rectangular object in plan view. It may be.

(9) In the above-described embodiment, the plurality of engaging action portions of the holding portion have a horizontal axis centered between an engagement posture that engages with the end portion of the conveyed product and a release posture that releases the engagement with the end portion. Although the one whose posture is freely switchable by swinging around is illustrated, the lower end portions of the plurality of engaging action portions of the holding portion are lower than the height of the lower surface of the conveyed product supported in a non-contact state by the blower-type support means. The engagement height that engages with the end portion of the conveyed product in a state of being positioned below, and the lower end portion thereof are higher than the height of the upper surface of the conveyed product that is supported in a non-contact state by the blower-type support means. It may be possible to switch the height to the release height at which the engagement with the end of the conveyed product is released in the positioned state.

(10)
In the above embodiment, the conveyance posture is changed by rotating the conveyance posture of the conveyance object by 90 degrees around the vertical axis as a predetermined angle, but the angle at which the conveyance object is rotated can be changed as appropriate.

(11)
In the above-described embodiment, the conveyance direction of the conveyance device is illustrated along a straight line. . In this case, the moving means in the posture changing means may be configured to move the holding unit along either the upstream conveyance direction or the downstream conveyance direction.

(12) In the above embodiment, the blower support means is exemplified by a plurality of fan filter units arranged vertically and horizontally. However, the blower support means may be configured without using the fan filter unit. . For example, an air supply path for supplying clean air from the outside may be connected to the transport device, and the blower support means may supply clean air supplied from the external supply path toward the lower surface of the transported object. .

(13) In the above embodiment, the propulsion force applying means 11a of the transport unit 6 in the upstream conveyor 2 and the downstream conveyor 3 is exemplified as having a plurality of guide rollers, but the propulsion force applying means 11a is transported. Various modifications such as those provided with a belt are possible.

(14) In the above-described embodiment, the posture changing unit is illustrated as being disposed at a position overlapping the conveying unit in plan view. However, the present invention is not limited thereto, and, for example, a part of the moving unit in the posture changing unit is conveyed. A part of the posture changing means, such as being arranged beside the means, may be arranged at a position deviating from the region where the conveying means is present in plan view. By setting it as such an arrangement | positioning, the vertical height of the location in which the attitude | position change means in the conveying apparatus was provided can be restrained low.

  Specifically, for example, the guide rail 27a in the above-described embodiment is arranged on the lateral side portion in the posture changing module 4, and the direction perpendicular to the conveying direction in the horizontal plane from the guide rail 27a to the inner side of the posture changing module 4 A slide arm extending in the direction of the slide arm is provided so as to be slidable along the conveying direction, and a rotary arm 25 is provided at the tip of the slide arm so as to be rotatable about the longitudinal axis. It may be configured.

  Further, a swing arm that is swingable about the longitudinal axis located outside the posture change module 4 in a plan view is provided, and a portion on the outer side in the swing radius direction of the swing arm (for example, a tip portion) The posture changing means 24 may be configured by providing the rotary arm 25 so as to be rotatable about the vertical axis (or rotatable about the vertical axis and movable along the swinging arm). In this case, the control means may be configured to control the swing operation of the swing arm (or the swing operation of the swing arm and the movement operation of the rotating arm 25 along the swing arm).

2, 3, 4 Conveying means 10 Blow type supporting means 11 Propulsion force applying means 24 Posture changing means 25 Holding part 26 Rotating means 27 Moving means 28 Engaging action part 29 Introducing conveying means 30 Deriving conveying means X1 Vertical axis Y1 Horizontal axis Center D Conveying means H Control means W Conveyed object P2 Introduction position P3 Holding position P4 Holding release position P5 Deriving position

Claims (6)

Blower-type support means for supplying air toward the lower surface of the conveyed product to support the conveyed product in a horizontal or substantially horizontal posture in a non-contact state, and a conveyance direction with respect to the conveyed product supported by the blow-type support means Conveying means comprising propulsive force applying means for applying the propulsive force of
Attitude changing means for changing the conveying posture of the conveyed object by rotating the conveyed object conveyed by the conveying means around the vertical axis;
A transport device provided with a control means for controlling the operation of the transport means and the posture changing means,
The posture changing means engages with a plurality of ends in a plan view of the conveyed product supported in a non-contact state, and a holding unit capable of holding the conveyed product, and the holding unit around the vertical axis A rotating means for rotating the holding portion and a moving means for moving the holding portion along the conveying direction,
The control means holds the conveyed product supported in a non-contact state by the holding unit at a holding position, moves the holding unit by the moving unit, and moves downstream of the holding position along the conveyance direction. While transporting a transported object that is supported in a non-contact state up to the holding release position, while the transporting part is moved by the moving part, the holding part is rotated by the rotating part and held. The holding posture of the holding portion, the moving action of the moving means, and the rotating action of the rotating means are to rotate the conveying posture around the vertical axis by a predetermined angle and release the holding of the conveyed object at the holding releasing position. Conveying device configured to control. A plurality of engagements whose posture can be switched by swinging around a horizontal axis between an engagement posture in which the holding portion engages with an end portion of the conveyed product and a release posture in which the engagement with the end portion is released. It is configured with a joint part,
The transport apparatus according to claim 1, wherein the control unit is configured to control a posture switching operation of the engaging action portion at the holding position and the holding release position. The transport means is configured to sequentially transport a plurality of transport objects,
The moving unit is configured to reciprocate the holding unit between the holding position and the holding release position along a transfer direction of the transfer unit;
Introducing and conveying means is provided for conveying the conveyed product from the introduction position set upstream of the holding position to the holding position while maintaining the conveying posture of the conveyed product along the conveying direction of the conveying means,
After the control unit moves the holding unit holding the conveyance object from the holding position to the holding release position, the holding unit holding the conveyance object is not held. In order to return to the position, the operation of the posture changing means is repeatedly controlled, and after the movement of the holding portion in the holding state from the holding position to the holding release position is started, 2. The operation of the introducing and conveying means is controlled so as to convey a subsequent conveyed product to the holding position before the return movement of the holding unit in the holding state to the holding position is completed. Or the conveying apparatus of 2.   The control means is configured to control the operation of the rotating means and the moving means so as to start rotation of the holding part and movement of the holding part from the holding position simultaneously or substantially simultaneously. The transport apparatus according to claim 3. The transport means is configured to sequentially transport a plurality of transport objects,
The moving unit is configured to reciprocate the holding unit between the holding position and the holding release position along a transfer direction of the transfer unit;
Derived conveying means for conveying the conveyed product from the holding release position to a derived position set downstream of the holding released position while maintaining the conveying posture of the conveyed object along the conveying direction of the conveying means is provided,
After the control unit moves the holding unit holding the conveyance object from the holding position to the holding release position, the holding unit holding the conveyance object is not held. In order to return to the position, the operation of the posture changing means is configured to be repeatedly controlled, and the conveyance object held in a state where the holding portion in the holding state is located in the holding release position is released. Thereafter, in order to transport the transported object released from the holding unit from the holding release position until the holding unit holding the subsequent transported object is moved to the holding release position, the derivation transport is performed. The conveying apparatus according to claim 1, wherein the conveying apparatus is configured to control the operation of the means.   The control means is configured to control the operation of the rotating means and the moving means so as to finish the rotation of the holding part and the movement of the holding part to the holding release position simultaneously or substantially simultaneously. The transport apparatus according to claim 5.

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