JP2019013168A - Transportation device and transportation method - Google Patents

Abstract

To provide a transportation device that can reliably maintain a lamination state even in transit after works are mutually laminated.SOLUTION: A transportation device 1 includes a mayonnaise feeding device 70 capable of feeding mayonnaise. The transportation device 1 transports a preceding work 50a and a subsequent work 50b that are attached by mayonnaise fed by the mayonnaise feeding device 70.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transport device and a transport method for transporting workpieces in a stacked manner.

  2. Description of the Related Art Conventionally, there has been proposed a transport device that uses a robot to lift a work that has been transported first from among the work that has been transported, and stack the work on a work that is transported later. An example of such a workpiece transfer device is disclosed in Patent Document 1. In Patent Document 1, a sandwich is conveyed as a work to be stacked and conveyed.

JP 2016-144400 A

  However, in the conveyance device disclosed in Patent Document 1, the state in which the workpieces are stacked is not maintained due to an unintended impact acting on the workpieces while the workpieces are conveyed in a stacked state. There is a possibility that.

  Therefore, in view of the above circumstances, an object of the present invention is to provide a transport device and a transport method in which the stacked state is reliably maintained even when the workpieces are stacked.

  The conveying apparatus of the present invention includes an adhesive supply unit capable of supplying an adhesive, and the first work and the second work attached by the adhesive supplied by the adhesive supply means. It is made to convey.

  In the transport device configured as described above, the first workpiece and the second workpiece are adhered by the adhesive, so that the state of being stacked between the first workpiece and the second workpiece is maintained, The first workpiece and the second workpiece can be transported.

  In addition, each of the workpieces including the first workpiece and the second workpiece is held, and holding means capable of transporting the held workpiece is provided, and the holding means is attached by the adhesive. The attached first and second workpieces may be held together by holding only one of the first and second workpieces.

  By holding only one of the first work and the second work attached by the adhesive, the holding means holds the attached first work and the second work together. Since the work is transported, the configuration for holding and transporting the first work and the second work can be simplified.

  Moreover, you may provide the conveyance means which conveys the some workpiece | work including the said 1st workpiece | work and the said 2nd workpiece | work sequentially along a conveyance path | route.

  Since it is equipped with a transport means that sequentially transports a plurality of workpieces along the transport path, the workpieces sequentially transported by the transport means can be transported one by one, and many workpieces can be transported in layers. it can.

  In addition, among the plurality of workpieces that are sequentially transferred, the first workpiece may be transferred before the second workpiece.

  The pressure-sensitive adhesive supply means supplies the pressure-sensitive adhesive toward the second workpiece, and the first workpiece is placed on the portion of the second workpiece to which the pressure-sensitive adhesive is supplied. Thus, the first work and the second work may be attached by the adhesive.

  The pressure-sensitive adhesive is supplied to the second workpiece conveyed later, and the first workpiece conveyed first is placed on the second workpiece to overlap the first workpiece and the second workpiece. As a result, the first work and the second work can be more efficiently overlapped and arranged.

  And holding means capable of holding the workpiece and transporting the held workpiece, wherein the holding means holds only the first workpiece, thereby holding the first workpiece attached thereto. The second workpiece may be held together.

  By holding only the first workpiece transferred first, the attached first workpiece and second workpiece are held together, so the first workpiece stacked on the upper side is held by the first workpiece. Both the first workpiece and the second workpiece can be held, and the configuration for holding and transporting the first workpiece and the second workpiece can be simplified.

  Moreover, you may provide the position detection means which can detect the position of a said 1st workpiece | work and a said 2nd workpiece | work.

  Since the position detecting means capable of detecting the positions of the first work and the second work is provided, the first work and the second work are more accurately arranged when the first work and the second work are arranged. The workpiece and the second workpiece can be overlapped.

  The position detection unit may include an imaging unit capable of capturing an image of the workpiece, and may be capable of detecting the position of the workpiece from the image captured by the imaging unit.

  Since the position of the workpiece is detected from the photographed image, the position of the workpiece can be accurately detected.

  In addition, it is possible to sequentially convey a plurality of workpieces including the first workpiece and the second workpiece along a conveyance path, and to hold the workpiece and to convey the held workpiece. A plurality of the workpieces that are sequentially transported, the first workpiece is transported before the second workpiece, and the position detector detects the first workpiece on the transport device. The position of the workpiece may be detected, and the holding unit may hold the first workpiece based on the position of the first workpiece detected by the position detection unit.

  Since the position of the first workpiece conveyed first is detected and the holding means holds the first workpiece based on the detected position of the first workpiece, the holding of the first workpiece is more accurately performed. It can be carried out.

  In addition, the position of the second workpiece detected by the position detection unit is detected by the position detection unit, and the position of the second workpiece detected by the position detection unit is detected by the position detection unit. The first workpiece may be placed over the second workpiece by adjusting the position.

  The position of the second workpiece to be transported later is detected, and the first workpiece is placed on the second workpiece by aligning the first workpiece with the detected position of the second workpiece. In addition, the first workpiece can be superimposed on the second workpiece.

  In addition, the position detection unit can detect the posture of the workpiece, detects the posture of the second workpiece by the position detection unit, and detects the posture of the first workpiece held by the holding unit. The first workpiece may be placed on the second workpiece so as to match the posture of the second workpiece detected by the position detecting means.

  Since the position detection means detects the posture of the second workpiece to be transported later and arranges the posture of the first workpiece in accordance with the posture of the second workpiece, the first workpiece and the second workpiece are more accurately arranged. The work can be placed on top of each other.

  Moreover, the workpiece | work containing the said 1st workpiece | work and the said 2nd workpiece | work may be a foodstuff, and the seasoning which has adhesiveness may be sufficient as the said adhesive.

  Since the seasoning has a function as a pressure-sensitive adhesive, it is not necessary to supply the seasoning and the pressure-sensitive adhesive separately, and manufacturing costs can be reduced to produce a laminate of foods.

  Further, the transport method of the present invention is a transport method for transporting a workpiece by a transport device provided with an adhesive supply means capable of supplying an adhesive, wherein the adhesive is supplied by the adhesive supply means. And an adhesion process for adhering the first work and the second work, and a conveying process for conveying the adhering first work and the second work.

  In the transport method configured as described above, since the first work and the second work are adhered by the adhesive in the adhesion process, the stacked state is maintained between the first work and the second work. The first work and the second work can be transported in the transport process.

  According to the present invention, the workpieces are adhered to each other with the pressure-sensitive adhesive, whereby the stacked state of the workpieces is maintained. Therefore, after the workpieces are stacked, the stacked workpieces can be transported in a state where the stacked state of the plurality of workpieces is maintained. Thereby, conveyance of the laminated | stacked workpiece | work can be performed reliably and conveyance of the laminated | stacked workpiece | work can be performed more efficiently.

It is a perspective view of the conveying apparatus which concerns on embodiment of this invention. It is a front view of the stacking apparatus in the conveying apparatus of FIG. It is the block diagram shown about the structure of the control system of the conveying apparatus of FIG. It is the flowchart shown about the flow about the previous workpiece | work at the time of stacking workpiece | works with the conveying apparatus of FIG. In the conveying apparatus of FIG. 1, it is the perspective view shown about the state in which the 1st adsorption | suction unit of a stacking device is holding the previous workpiece | work. In the conveying apparatus of FIG. 1, it is the perspective view shown about the state which the 1st adsorption | suction unit of a stacking apparatus is moving the previous workpiece | work. In the conveying apparatus of FIG. 1, the 1st adsorption | suction unit of the stacking apparatus is the perspective view shown about the state which has arrange | positioned the previous workpiece | work on the 2nd belt conveyor. FIG. 2 is a perspective view illustrating a state in which the first suction unit of the stacking device releases suction of the previous workpiece and the first suction unit moves in a direction away from the previous workpiece in the transport device of FIG. 1. FIG. 2 is a perspective view illustrating a state in which the camera is imaging a previous workpiece in the transfer device of FIG. 1. In the conveying apparatus of FIG. 1, it is the perspective view shown about the state in which the 2nd adsorption | suction unit of a stacking apparatus is holding the previous workpiece | work. In the conveying apparatus of FIG. 1, it is the perspective view shown about the state which the 2nd adsorption | suction unit of the stacking apparatus moved the previous workpiece | work to the standby position. FIG. 2 is a perspective view illustrating a state in which the camera is capturing an image of a subsequent workpiece in the transfer apparatus of FIG. 1. In the conveying apparatus of FIG. 1, it is the perspective view shown about the state which has arrange | positioned the front workpiece | work hold | maintained by the 2nd adsorption | suction unit of the stacking apparatus on the subsequent workpiece | work, and piled up workpieces. In the conveying apparatus of FIG. 1, the 2nd adsorption | suction unit of the stacking apparatus is the perspective view shown about the state which hold | maintains and moves the previous workpiece | work and the subsequent workpiece | work. In the conveying apparatus of FIG. 1, the 2nd adsorption | suction unit of the stacking apparatus hold | maintains the previous workpiece | work and the subsequent workpiece | work, and is the perspective view shown about the state moved to the loading position of a workpiece | work. It is the flowchart shown about the flow about the workpiece | work after stacking workpiece | work with the conveying apparatus of FIG.

  Hereinafter, a transport device and a transport method according to embodiments of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a diagram illustrating a configuration of a transport apparatus according to an embodiment of the present invention. As shown in FIG. 1, the conveying device 1 includes a stacking device 100 that stacks workpieces 50, a belt conveyor (conveying means) 60 that transports the workpieces 50, and mayonnaise supply that supplies mayonnaise as an adhesive. An apparatus (adhesive supply means) 70 and a box 80 are provided.

  The belt conveyor 60 includes a first belt conveyor 61, a second belt conveyor 62, and a third belt conveyor 63 from the upstream side. The belt conveyor 60 sequentially conveys a plurality of workpieces 50 along the conveyance path.

  The 1st belt conveyor 61 conveys the workpiece | work 50 conveyed from the upstream to the predetermined | prescribed 1st holding position 61a. In the present embodiment, the first holding position 61 a is located in the vicinity of the front end portion on the downstream side of the first belt conveyor 61. The first holding position 61 a is configured to be able to hold the workpiece 50 by the stacking device 100.

  A sensor (detection means) 61b that detects whether or not the workpiece 50 has reached the first holding position 61a is attached to the first belt conveyor 61. In the present embodiment, the sensor 61b includes a light emitting unit 61c that emits light toward the conveyance surface of the workpiece 50 in the first belt conveyor 61, and a light receiving unit 61d that receives light from the light emitting unit 61c. The light receiving unit 61 d receives reflected light that is emitted from the light emitting unit 61 c toward the conveyance surface of the first belt conveyor 61 and reflected by the conveyance surface of the first belt conveyor 61. In the present embodiment, the sensor 61b is configured to be able to detect the color of light received by the light receiving unit 61d. For example, the color of the received light can be detected by detecting the wavelength of the light received by the light receiving unit 61d.

  The sensor 61b determines that the workpiece 50 exists at the first holding position 61a when the color of the light received by the light receiving unit 61d changes. The color of light differs between the light reflected on the transport surface of the first belt conveyor 61 and the light reflected on the work 50 when the work 50 exists on the first belt conveyor 61. Therefore, it is possible to detect whether or not the workpiece 50 is present at the holding position 61a by detecting the color of the light received by the light receiving unit 61d.

  In the present embodiment, the form in which the color of the light received by the light receiving unit is detected to detect whether or not the work 50 is at the first holding position 61a has been described, but the present invention is not limited to this. Other configurations may be used to detect whether or not the workpiece 50 is in the first holding position 61a. For example, a transmission type sensor including a light emitting unit and a light receiving unit may be used. When the work 50 is located between the light emitting part and the light receiving part, the work 50 blocks the light from the light emitting part and cannot receive the light at the light receiving part, and it is detected that the work 50 is in the first holding position 61a. can do. In that case, the conveyance surface of the 1st belt conveyor 61 may be divided | segmented into the width direction, and a detection position may be provided in the position between conveyance surfaces. In addition, when a mechanical sensor is arranged and the work 50 comes into contact with the sensor, it may be detected that the work 50 has reached the first holding position 61a. Other types of sensors may also be used. Any type of sensor may be used as long as it can detect whether or not the workpiece 50 is in the first holding position 61a.

  The workpiece 50 conveyed on the first belt conveyor 61 is held by the stacking apparatus 100 at the first holding position 61 a and moved to the second belt conveyor 62. When the workpiece 50 held by the hand unit of the stacking apparatus 100 is arranged on the second belt conveyor 62 at the first holding position 61a of the first belt conveyor 61, the workpiece 50 is further conveyed along the conveyance direction. The workpiece 50 is transported to the second holding position 62 a where the stacking device 100 holds the workpiece 50 in order to stack the workpieces 50.

  When the workpieces 50 are conveyed to the stacking position 62a, the workpieces 50 conveyed before are stacked on the workpieces 50 conveyed later to stack the workpieces 50 together. The stacking position 62 a is located in the vicinity of the downstream end of the second belt conveyor 62.

  When the workpiece 50 conveyed before is stacked on the workpiece 50 conveyed later, the stacked workpiece 50 is held by the stacking device 100 and moved to the third belt conveyor 63. The third belt conveyor 63 includes a loading position 63a where the workpieces 50 on which the workpieces 50 are stacked are loaded and arranged. The stacking apparatus 100 sequentially arranges the stacked workpieces 50 at the stacking position 63a.

  When a predetermined number of workpieces 50 stacked at the loading position 63a are loaded, the stacked workpieces 50 loaded at the loading position 63a driven by the third belt conveyor 63 are conveyed along the conveyance direction. Let

  A box 80 is disposed on the side of the transport path of the third belt conveyor 63 at a position downstream of the stacking position 63a in the transport direction. The stacked workpieces 50 stacked at the stacking position 63a are transported along the transport direction to be transported to an area adjacent to the box 80 in the transport path of the third belt conveyor 63. When the stacked workpieces 50 that have been stacked are transported to an area adjacent to the box 80, the stacked workpieces 50 are manually placed inside the box 80. By repeatedly placing the loaded work 50 inside the box 80, the loaded work 50 is boxed inside the box 80.

  A mayonnaise supply device 70 is disposed at a position adjacent to the second belt conveyor 62. The mayonnaise supply device 70 is disposed at a position near the center of the second belt conveyor 62 in the transport direction. The mayonnaise supply device 70 is configured to be able to supply mayonnaise toward the workpiece 50 conveyed on the second belt conveyor 62 at the mayonnaise supply position 70a.

  The mayonnaise supply device 70 includes a container portion 71 and a supply port 72. The container part 71 has a fixed capacity and is configured to be able to temporarily store mayonnaise. The mayonnaise stored in the container 71 is supplied toward the supply port 72. The mayonnaise is supplied from the supply port 72 toward the work 50 at the timing when the work 50 to which the mayonnaise is supplied reaches the mayonnaise supply position.

  In the present embodiment, the mayonnaise supply device 70 is arranged such that the supply port 72 is arranged above the conveyance path of the workpiece 50 in the second belt conveyor 62 and the supply port 72 faces the conveyance surface. Therefore, a certain amount of mayonnaise is dropped toward the workpiece 50 at the timing when the workpiece 50 to which the mayonnaise is supplied reaches a position directly below the supply port 72, and the mayonnaise falls onto the workpiece 50. In this way, mayonnaise is supplied to the workpiece 50.

  Further, a camera 90 is attached at a position downstream of the mayonnaise supply position by the mayonnaise supply device 70 in the second belt conveyor 62 in the transport direction. An image of the work 50 conveyed on the second belt conveyor 62 can be taken by the camera 90, and the work 50 can be taken. That is, the camera 90 is configured as an imaging unit that can image the workpiece 50. The camera 90 is configured as a position detection unit that can detect the position of the workpiece 50 from the captured image. Furthermore, in the present embodiment, the camera 90 is configured to be able to detect the posture of the workpiece 50 from the captured image.

  In the present embodiment, the posture of the workpiece 50 is also detected by the camera 90, but the present invention is not limited to this. A guide may be attached to the second belt conveyor 62 so that the posture of the workpiece 50 being conveyed is constant. Since the work 50 is guided by the guide and conveyed in the same posture, it is not necessary to detect the posture.

  In the present embodiment, the form in which the position of the workpiece 50 is detected from the image captured by the camera 90 is described, but the present invention is not limited to this. As long as the position of the workpiece 50 can be detected, position detection means for the other type of workpiece 50 may be used.

  Next, the configuration of the stacking apparatus 100 will be described.

  FIG. 2 shows the stacking apparatus 100 of this embodiment. FIG. 2 shows a front view of the stacking apparatus 100. As shown in FIG. 2, the stacking apparatus 100 is configured by a horizontal articulated double-arm robot including a pair of robot arms 13.

  The stacking apparatus 100 includes a first robot arm 13A and a second robot arm 13B. A first holding unit 18 is provided at the tip of the first robot arm 13A. A second holding part 19 is provided at the tip of the second robot arm 13B. Hereinafter, when the first robot arm 13A and the second robot arm 13B are not distinguished, they may be simply referred to as the robot arm 13.

  The stacking apparatus 100 includes a control unit 14 and a vacuum generator (not shown).

  The control unit 14 is provided, for example, inside the support base 12 of the stacking apparatus 100. However, the present invention is not limited to this. For example, the robot arm 13 may be provided. Further, it may be provided in another vacant space.

  Examples of the vacuum generator include a vacuum pump and CONVUM (registered trademark). Similarly to the control unit 14, the vacuum generator is also provided inside the support base 12, for example. However, the present invention is not limited to this, and the vacuum generator may be provided in another place, for example, inside the robot arm 13. The vacuum generator is connected to a first suction unit 30 and a second suction unit 40 which will be described later via a pipe (not shown). For example, an on-off valve (not shown) is provided in the pipe, and the pipe is opened and closed by the on-off valve. The operation of the vacuum generator and the opening / closing of the on-off valve are controlled by a control device.

  The first robot arm 13A moves the first holding unit 18 within a predetermined operation range. The second robot arm 13B moves the second holding unit 19 within a predetermined operation range. The robot arm 13 is, for example, a horizontal articulated robot arm, and includes an arm unit 21 and a wrist unit 22. Further, the first robot arm 13A and the second robot arm 13B can operate independently of each other or operate in association with each other.

  The first holding unit 18 and the second holding unit 19 are configured to be able to hold a hand unit having a function.

  The stacking apparatus 100 includes a support base 12 and a base shaft 16 extending vertically upward from the support base 12. The base shaft 16 is attached to the support base 12 so as to be capable of rotating.

  The arm portion 21 is attached to the base shaft 16 so as to extend in the horizontal direction. The arm portion 21 is attached to be rotatable about the base shaft 16.

  The arm portion 21 includes a first link 21a and a second link 21b. The first link 21a and the second link 21b are supported so as to be rotatable along the horizontal direction. The first robot arm 13 </ b> A and the second robot arm 13 </ b> B are connected to the base shaft 16 via the arm unit 21.

  The arm unit 21 positions the wrist unit 22 attached to the tip portions of the first robot arm 13A and the second robot arm 13B at an arbitrary position within the operation range.

  The base end of the first link 21 a is connected to the base shaft 16 of the support base 12 by the rotary joint J <b> 1, and can rotate around the rotation axis L <b> 1 passing through the axis of the base shaft 16. The second link 21b is connected to the distal end portion of the first link 21a by the rotary joint J2, and is rotatable around the rotation axis L2 defined at the distal end portion of the first link 21a.

  The list unit 22 changes the mechanism connected to the tip to an arbitrary posture. The wrist part 22 includes an elevating part 22a and a rotating part 22b. The raising / lowering part 22a is connected with the front-end | tip part of the 2nd link 21b by the linear motion joint J3, and can be moved up and down with respect to the 2nd link 21b. The rotating part 22b is connected to the lower end part of the elevating part 22a by the rotary joint J4, and can be rotated around the rotation axis L3 defined at the lower end of the elevating part 22a.

  In the present embodiment, the rotation axes L1 to L3 are parallel to each other and extend, for example, in the vertical direction. Further, the extending direction of the rotation axes L1 to L3 and the moving direction of the lifting unit 22a are parallel to each other.

  The arm 13 is provided with a drive servo motor (not shown) and an encoder (not shown) for detecting the rotation angle of the servo motor so as to correspond to the joints J1 to J4. Yes. The rotation axis L1 of the first robot arm 13A and the rotation axis L1 of the second robot arm 13B are on the same straight line, and the first link 21a of the first robot arm 13A and the first link 21a of the second robot arm 13B. Are arranged with a difference in height above and below.

  Next, the hand unit that can be gripped by the first holding unit 18 and the second holding unit 19 will be described. In the present embodiment, the first holding unit 18 holds the first suction unit 30 as a hand unit.

  The first suction unit 30 will be described. The first suction unit 30 is provided with a plurality of suction ports 31. The suction port 31 is provided open at the tip of the suction tube 32, and the suction tube 32 is attached so as to protrude downward. Therefore, the suction port 31 is opened facing downward. In the present embodiment, four suction pipes 32 are attached to the first adsorption unit 30. The four suction pipes 32 are held by the plate 33 and attached to the first suction unit 30.

  Each suction port 31 in the first suction unit 30 is connected to the vacuum generator via the above-described pipe, and air can be sucked from the suction port 31. The work 50 is sucked and held at the tip of the suction port 31 by bringing the work 50 into contact with the suction port 31 while sucking air from the suction port 31 in the first suction unit 30. .

  Further, the suction of the work 50 by the first suction unit 30 can be released by stopping the suction from the suction port 31 of the first suction unit 30. Further, when the first suction unit 30 releases the suction at a predetermined position, the work 50 sucked by the first suction unit 30 can be arranged at the predetermined position.

  Since the first suction unit 30 is held by the first holding unit 18, the first suction unit 30 is configured to be movable within a predetermined operation range by driving the first robot arm 13A.

  Further, the second holding unit 19 holds the second suction unit (holding unit) 40 as a hand unit. The second suction unit 40 is provided with a plurality of suction ports 41. The suction port 41 is provided to be opened at the tip of the suction tube 42, and the suction tube 42 is attached so as to protrude downward. Therefore, the suction port 41 is opened facing downward. In the present embodiment, four suction pipes 42 are attached to the second adsorption unit 40.

  The four suction pipes 42 are held by the plate 43 and attached to the second suction unit 40. A pressing portion 44 is attached to the plate 43 so as to protrude downward from the plate 43. The pressing portion 44 is formed in a box shape having a rectangular parallelepiped shape, and a pressing surface 45 formed horizontally is provided on the bottom surface.

  Each suction port 41 in the second adsorption unit 40 is connected to the vacuum generator via the above-described pipe, and can suck air from the suction port 41. The work 50 is sucked and held at the tip of the suction port 31 by bringing the work 50 into contact with the suction port 41 while sucking air from the suction port 41 in the second suction unit 40. .

  Further, by stopping the suction from the suction port 41 of the second suction unit 40, the suction of the work 50 by the second suction unit 40 can be released. Further, when the second suction unit 40 releases the suction at a predetermined position, the work 50 sucked by the second suction unit 40 can be arranged at the predetermined position.

  Since the second suction unit 40 is held by the second holding unit 19, it is configured to be movable within a predetermined operating range by driving the second robot arm 13B.

  The second suction unit 40 is configured to hold the workpiece 50 and to move the workpiece 50 held by the second suction unit 40 by moving the second suction unit 40.

  Next, the control part 14 which controls operation | movement of the stacking apparatus 100 is demonstrated. FIG. 3 is a block diagram schematically showing a configuration example of the control system of the stacking apparatus 100.

  As shown in FIG. 3, the control unit 14 includes a calculation unit 14a, a storage unit 14b, a servo control unit 14c, a first suction unit control unit 14d, and a second suction unit control unit 14e.

  The control unit 14 is a robot controller including a computer such as a microcontroller. The control unit 14 may be configured by a single control unit 14 that performs centralized control, or may be configured by a plurality of control units 14 that perform distributed control in cooperation with each other.

  The storage unit 14b stores information such as a basic program as the robot controller and various fixed data. The calculation unit 14a controls various operations of the stacking apparatus 100 by reading and executing software such as a basic program stored in the storage unit 14b. That is, the calculation unit 14a generates a control command for the stacking apparatus 100 and outputs the control command to the servo control unit 14c, the first suction unit control unit 14d, and the second suction unit control unit 14e.

  The servo control unit 14c controls the driving of the servo motors corresponding to the joints J1 to J4 of the first robot arm 13A and the second robot arm 13B of the stacking apparatus 100 based on the control command generated by the calculation unit 14a. Is configured to do.

  The first suction unit controller 14d controls suction, movement, and operation by the first suction unit 30 by controlling the vacuum generator and the drive unit based on the control command generated by the calculator 14a.

  The second suction unit controller 14e controls the suction, movement, and operation of the second suction unit 40 by controlling the vacuum generator and the drive unit based on the control command generated by the calculation unit 14a.

  The operation | movement at the time of conveying the workpiece | work 50 is demonstrated using the stacking apparatus 100 in the conveying apparatus 1 comprised as mentioned above, stacking workpiece | work 50 mutually.

  First, the flow by the workpiece 50a conveyed first out of the workpiece 50a conveyed first and the workpiece 50b conveyed later will be described.

  In the transport device 1, the work 50a (first work) transported first and the work 50b (second work) transported after the work 50a transported first are alternately transported.

  FIG. 4 shows a flowchart of the work 50a conveyed first.

  As shown in FIG. 1, the work 50a that is transported first is transported on the first belt conveyor 61 toward the detection position by the sensor 61b.

  In S11, it is determined whether or not the previous work 50a has reached the first holding position 61a. When the previous work 50a is conveyed by the first belt conveyor 61 and the previous work 50a reaches the first holding position 61a, the sensor 61b detects the arrival of the previous work 50a to the first holding position 61a.

  When the previous work 50a reaches the first holding position 61a, the first suction unit 30 in the stacking apparatus 100 sucks and holds the previous work 50 (S12).

  In the present embodiment, when the workpiece 50 is detected by the sensor 61b, the first suction unit 30 holds the detected workpiece 50 each time the arrival of the workpiece 50 at the first holding position 61a is detected. Moreover, the 1st adsorption | suction unit 30 moves the hold | maintained workpiece | work 50 on the 2nd belt conveyor 62, whenever the workpiece | work 50 is hold | maintained.

  FIG. 5 shows a perspective view of the transport device 1 in a state where the first suction unit 30 sucks and holds the previous workpiece 50a. When the work 50 is attracted by the first suction unit 30, the work 50 is attracted to the suction port 31 by performing suction from the suction port 31. When the first suction unit 30 sucks and holds the previous work 50 a, the first suction unit 30 lifts the previous work 50 a and moves it toward the second belt conveyor 62.

  FIG. 6 shows a perspective view of the transport device 1 in a state where the first suction unit 30 sucks and holds the previous work 50 a and moves it toward the second belt conveyor 62. When the first suction unit 30 reaches the second belt conveyor 62 while holding the previous work 50 a, the previous work 50 a is disposed on the second belt conveyor 62.

  FIG. 7 shows a perspective view of the transport apparatus 1 in a state where the previous work 50a is disposed on the second belt conveyor 62 in a state where the first suction unit 30 holds the previous work 50a. When the previous work 50a is disposed on the second belt conveyor 62, the first suction unit 30 releases the suction, and the first suction unit 30 moves in a direction away from the previous work 50a. Thereby, the 1st adsorption | suction unit 30 cancels | releases the adsorption | suction and holding | maintenance about the previous workpiece | work 50a (S13), and retracts | saves from the previous workpiece | work 50a. At this time, the first suction unit 30 is separated from the previous work 50a while the previous work 50a is placed on the second belt conveyor 62.

  FIG. 8 shows a perspective view of the transfer apparatus 1 in a state where the first suction unit 30 releases the suction of the previous work 50a and the first suction unit 30 moves in a direction away from the previous work 50a. When the first suction unit 30 releases the suction of the previous work 50a and is separated from the previous work 50a, the previous work 50a is conveyed on the second belt conveyor 62. When the previous work 50 a is conveyed by the second belt conveyor 62, the previous work 50 a reaches a position where it can be imaged by the camera 90.

  In FIG. 9, the perspective view about the conveying apparatus 1 of the state by which the previous workpiece | work 50a is arrange | positioned on the 2nd belt conveyor 62 is shown. Imaging by the camera 90 is performed at a timing when the previous workpiece 50a reaches a position where it can be imaged by the camera 90. At this time, the time when the previous work 50a is transported to the image pickup position by the camera 90 has elapsed from the time when the sensor 61b detects that the previous work 50a has reached the first holding position 61a. It is done at the timing. An area captured by the camera 90 in the second belt conveyor 62 is indicated as R1.

  When the previous work 50a has arrived at the area R1 imaged by the camera 90 when the image is captured by the camera 90, it is detected by the captured image that the previous work 50a has reached the area R1. . When the previous work 50a has not yet reached the region R1, it is detected from the captured image that the previous work 50a has not yet reached the region R1. In this way, it is detected from the captured image whether or not the previous workpiece 50a has reached the region R1 (S14).

  Further, when the previous work 50a reaches the imaged region R1, and the previous work 50a is imaged by the camera 90, the posture of the previous work 50a is detected. Therefore, the posture of the previous workpiece 50a can be accurately detected. Further, the position of the previous workpiece 50a is detected from the image captured by the camera 90. Therefore, it is possible to accurately detect the position of the previous workpiece 50a.

  In the present embodiment, the region R1 imaged by the camera 90 is a second holding position where the previous workpiece 50a is held by the second suction unit 40. When it is detected that the previous work 50a has reached the region R1, it is determined that the previous work 50a has reached the second holding position. Therefore, the previous workpiece 50a located at the second holding position is sucked and held by the second suction unit 40 (S15).

  At this time, the position of the previous work 50a is detected by the camera 90, and the second suction unit 40 holds the previous work 50a based on the position of the previous work 50a detected by the camera 90. In the present embodiment, the position and orientation of the previous work 50a are detected by imaging with the camera 90, and the previous work 50a is held by the second suction unit 40. Therefore, the previous work 50a is held by the second suction unit 40. In doing so, the previous workpiece 50a can be reliably held.

  As described above, when the camera 90 detects that the previous work 50a has reached the region R1, the second suction unit 40 sucks and holds the previous work 50a. If the camera 90 does not detect that the previous workpiece 50a has reached the region R1, the imaging of the region R1 is performed until the previous workpiece 50a is detected, and the previous workpiece 50a has reached the second holding position. The detection of whether or not is continued.

  FIG. 10 is a perspective view of the transport device 1 in a state where the second suction unit 40 sucks and holds the previous workpiece 50a located at the second holding position. When the second suction unit 40 sucks and holds the previous workpiece 50a, the second suction unit 40 moves in a direction away from the conveyance path of the workpiece 50 in the second belt conveyor 62, and the second workpiece 50a is moved to the second belt 50. The belt conveyor 62 is temporarily retracted.

  FIG. 11 is a perspective view of the transport device 1 in a state where the second suction unit 40 sucks and holds the previous workpiece 50 a and retracts from the second belt conveyor 62. When the second suction unit 40 retreats from the second belt conveyor 62 while holding the previous work 50a, the second work unit 50b, which will be described later, waits to reach the region R1 imaged by the camera 90.

  When the previous work 50a is waiting, the camera 90 captures an image at the timing when the subsequent work 50b reaches the region R1 imaged by the camera 90. An image of the region R1 is taken by the camera 90, and it is detected whether or not the subsequent work 50b has reached the region R1 (S16).

  FIG. 12 is a perspective view of the transfer device 1 in a state where the subsequent work 50b has reached the region R1 imaged by the camera 90. FIG. At this time, mayonnaise is supplied to the subsequent workpiece 50b, and the subsequent workpiece 50b is conveyed on the second belt conveyor 62 in a state where the mayonnaise is placed on the subsequent workpiece 50b. When the subsequent work 50b reaches the region R1 imaged by the camera 90, the previous work 50a held by the second suction unit 40 is placed on the subsequent work 50b in an overlapping manner (S17).

  FIG. 13 shows a perspective view of the transfer apparatus 1 in a state where the previous work 50a is placed on the subsequent work 50b. A pressing portion 44 that protrudes downward from the plate 43 is attached to the second suction unit 40. Accordingly, when the second work unit 50a is placed on the rear work 50b while the second suction unit 40 holds the previous work 50a, the pressing surface 45 of the pressing portion 44 is located above the previous work 50a. The previous work 50a and the subsequent work 50b are pressed. Since the pressing surface 45 of the second suction unit 40 presses the workpieces 50a and 50b from above the previous workpiece 50a, the mayonnaise supplied between the workpieces 50a and 50b is a region between the workpieces 50a and 50b. Can be spread out. In this way, by pressing the workpieces 50a and 50b from above by the pressing portion 44 provided in the second suction unit 40, the mayonnaise as an adhesive sandwiched between the workpieces 50a and 50b is converted into the workpiece 50a. , 50b. Thereby, also in the part of the outer edge vicinity of workpiece | work 50a, 50b, workpiece | work 50a, 50b can be reliably made to adhere by mayonnaise. Therefore, it is possible to suppress the separation of the previous workpiece 50a and the subsequent workpiece 50b during the conveyance.

  In the present embodiment, the configuration in which the mayonnaise sandwiched between the workpieces 50a and 50b by the pressing surface 45 of the pressing portion 44 is extended between the workpieces 50a and 50b has been described. It is not limited to. When an adhesive other than mayonnaise is used as the adhesive, the pressing portion 44 and the pressing surface 45 may be configured to spread the adhesive other than mayonnaise between the workpieces 50a and 50b. For example, when the source is supplied between the workpieces 50a and 50b, the pressing portion 44 and the pressing portion 44 and the source 50 can be expanded between the workpieces 50a and 50b when the pressing surface 45 presses the workpiece 50. What is necessary is just to comprise the press surface 45. FIG. In addition, when other adhesives are used, the pressing portion 44 and the pressing surface 45 are configured so that the adhesive can be spread between the workpieces 50a and 50b corresponding to the adhesive. Just do it.

  When the previous work 50a is placed on the rear work 50b, the second suction unit 40 moves to the third belt conveyor while holding the previous work 50a and the rear work 50b.

  In FIG. 14, the second suction unit 40 holds the previous workpiece 50 a and the subsequent workpiece 50 b while holding the previous workpiece 50 a and the subsequent workpiece 50 b on the second belt conveyor 62. A perspective view of the device 1 is shown. At this time, in this embodiment, the 2nd adsorption | suction unit 40 adsorb | sucks the front workpiece | work 50a arrange | positioned on the upper side, and hold | maintains the front workpiece | work 50a and the subsequent workpiece | work 50b. When the previous workpiece 50a is arranged on the subsequent workpiece 50b, mayonnaise is supplied on the subsequent workpiece 50b. Accordingly, a mayonnaise is disposed between the preceding work 50a and the succeeding work 50b, and the preceding work 50a and the following work 50b are adhered by causing the mayonnaise to function as an adhesive. Therefore, even if the second suction unit 40 sucks only the previous work 50a, the subsequent work 50b can be prevented from falling off the previous work 50a. Therefore, the second suction unit 40 can hold both the previous work 50a and the subsequent work 50b by sucking only the previous work 50a.

  In this way, the second suction unit 40 holds only one work 50 of the previous work 50a and the subsequent work 50b attached by mayonnaise, thereby attaching the previous work 50a and the subsequent work 50b. And can be held together. In this embodiment, the workpiece | work 50a located ahead is hold | maintained, and the workpiece | work 50a and the workpiece | work 50b which adhere | attached are hold | maintained collectively.

  Since the stacked body in which the previous work 50a and the subsequent work 50b are stacked by suction by the second suction unit 40 can be held at one time and the stacked body can be moved as it is, the stacked body can be moved efficiently. Can do. Therefore, a large number of laminated bodies can be moved per unit time, and the time required for moving the laminated bodies can be shortened. Further, since the stacked body can be held only by attracting the upper workpiece 50, the stacked body can be held and moved by an apparatus having a simple configuration.

  Further, in the present embodiment, the previous work 50a to which the second suction unit 40 is attached and the subsequent work 50b are held together only by sucking the previous work 50a located on the upper side. Therefore, the configuration for holding the previous work 50a and the subsequent work 50b attached by the second suction unit 40 can be simplified.

  If the previous workpiece 50a and the subsequent workpiece 50b are not adhered, the previous workpiece 50a and the subsequent workpiece 50b cannot be held together by simply adsorbing the previous workpiece 50a. Therefore, in order to hold both the previous workpiece 50a and the subsequent workpiece 50b, for example, a configuration such as scooping up both the previous workpiece 50a and the subsequent workpiece 50b may be required. For this reason, there is a possibility that the configuration for holding both the previous workpiece 50a and the subsequent workpiece 50b becomes complicated.

  Further, in the present embodiment, by adhering the previous work 50a positioned on the upper side, the attached previous work 50a and the subsequent work 50b are held together, so the shape of the subsequent work 50b Regardless of the size, the preceding workpiece 50a and the succeeding workpiece 50b can be held together. For example, even when the size of the previous workpiece 50a positioned on the upper side is significantly larger than the size of the subsequent workpiece 50b, the previous workpiece 50a and the subsequent workpiece are simply absorbed by the previous workpiece 50a. Since both of the workpieces 50b can be held, the preceding workpiece 50a and the following workpiece 50b can be easily held.

  If the size of the previous workpiece 50a located on the upper side is significantly larger than the size of the subsequent workpiece 50b, the previous workpiece 50a covers the entire subsequent workpiece 50b, and the subsequent workpiece 50b It is conceivable that the workpiece 50a sinks near the center below the workpiece 50a. At this time, when the preceding workpiece 50a and the following workpiece 50b are not attached, for example, in order to scoop up both the preceding workpiece 50a and the following workpiece 50b, a member for holding is used as the preceding workpiece 50a. It is necessary to sink deeply into the lower side. Therefore, the structure for holding the previous workpiece 50a and the subsequent workpiece 50b may be complicated.

  In the present embodiment, since the first workpiece 50a and the rear workpiece 50b are held only by the second suction unit 40 adsorbing the previous workpiece 50a positioned on the upper side, the previous workpiece 50a is held with a simple configuration. 50a and the subsequent workpiece 50b can be held. In addition, since the preceding workpiece 50a and the succeeding workpiece 50b can be held together regardless of the shape and size of the subsequent workpiece, the application range of the workpiece 50 can be widened.

  When the second suction unit 40 holds the previous work 50a and the rear work 50b, the second suction unit 40 moves while holding the previous work 50a and the rear work 50b, and holds the previous work 50a and the rear work. The workpiece 50b is conveyed (conveying step). Here, the second suction unit 40 moves the previous workpiece 50a and the subsequent workpiece 50b and loads them on the loading position 63a on the third belt conveyor 63 (S18).

  FIG. 15 is a perspective view of the transfer apparatus 1 in a state where the previous workpiece 50a and the subsequent workpiece 50b are stacked at the stacking position 63a.

  When the combination of the plurality of previous workpieces 50a and the subsequent workpieces 50b is stacked in a stacked state, the suction by the second suction unit 40 is stopped. Thereby, the adsorption | suction and holding | maintenance of the front workpiece | work 50a and the subsequent workpiece | work 50b by the 2nd adsorption | suction unit 40 are cancelled | released (S19).

  The combination of the plurality of previous workpieces 50a and the subsequent workpieces 50b loaded is moved into the box 80. As a result, the combination of the plurality of previous workpieces 50 a and the subsequent workpieces 50 b that are stacked is arranged in the box 80.

  When the previous work 50a is placed inside the box 80, the transfer flow for the previous work 50a is completed.

  Next, the flow of the workpiece 50b conveyed later will be described.

  After the time shown in FIG. 8, the subsequent workpiece 50b reaches the first holding position that can be detected by the sensor 61b. At this time, until the subsequent workpiece 50b reaches the first holding position 61a, it is determined by the sensor 61b whether the subsequent workpiece 50b has arrived (S21). When the rear workpiece 50b is conveyed by the first belt conveyor 61 and the rear workpiece 50b reaches the first holding position 61a, the sensor 61b detects the arrival of the rear workpiece 50b to the first holding position 61a. Thus, the sensor 61b detects the arrival of the subsequent work 50b to the first holding position 61a.

  When the rear workpiece 50b reaches the first holding position 61a, the first suction unit 30 in the stacking apparatus 100 sucks and holds the rear workpiece 50b (S22). When the first suction unit 30 sucks and holds the rear workpiece 50b, the first suction unit 30 lifts the rear workpiece 50b and moves it toward the second belt conveyor 62. When the first suction unit 30 reaches the second belt conveyor 62 while holding the rear workpiece 50b, the rear workpiece 50b is disposed on the second belt conveyor 62.

  When the subsequent work 50b is arranged on the second belt conveyor 62, the first suction unit 30 stops the suction there, and the first suction unit 30 moves in a direction away from the rear work 50b. Thereby, the 1st adsorption | suction unit 30 cancels | releases adsorption | suction and holding | maintenance about the back workpiece | work 50b (S23), and retracts | saves from the back workpiece | work 50b. When the first suction unit 30 releases the suction of the rear workpiece 50b and is separated from the rear workpiece 50b, the rear workpiece 50b is transported on the second belt conveyor 62.

  When the subsequent work 50 is conveyed to the mayonnaise supply position 70a by the mayonnaise supply device 70, the mayonnaise is supplied from the supply port 72 toward the subsequent work 50b. In the mayonnaise supply device 70, the mayonnaise stored in the container portion 71 is supplied toward the subsequent work 50b.

  In the present embodiment, since the previous workpiece 50a and the subsequent workpiece 50b are alternately conveyed, among the workpieces 50 that are conveyed one after another, toward the subsequent workpiece 50b that is conveyed every other one. The mayonnaise is supplied by the mayonnaise supply device 70.

  With respect to the supply of mayonnaise from the supply port 72, the timing at which the workpieces 50 b that are transferred every other one of the workpieces 50 that are sequentially transferred are transferred to the mayonnaise supply position 70 a corresponding to the supply port 72. The mayonnaise will be supplied.

  The supply of mayonnaise from the supply port 72 is performed after the sensor 61b detects that the subsequent work 50b has reached the first holding position 61a, and the subsequent work 50b is moved from the first holding position 61a to the mayonnaise supply position 70a. It may be performed at the timing when the transported time has elapsed. That is, after the sensor 61b detects that the subsequent work 50b has reached the detection position, the time it takes for the subsequent work 50b to be transferred from the detection position to the mayonnaise supply position has passed. Mayonnaise may be supplied towards. Here, the mayonnaise supply position is a supply position where the mayonnaise is supplied toward the subsequent workpiece 50b by the mayonnaise supply device 70. Alternatively, mayonnaise may be supplied at a timing when the first suction unit 30 releases the suction from the timing at which the suction is released to the mayonnaise supply position 70a. By supplying the mayonnaise in this way, the mayonnaise can be accurately supplied toward the subsequent work 50b.

  7 and 8 are perspective views of the transfer apparatus 1 in a state where mayonnaise is supplied to the subsequent work 50b among the previous work 50a and the subsequent work 50b of the previous set. As shown in FIG. 7, the mayonnaise discharged from the supply port 72 falls toward the subsequent work 50 b below the supply port 72 as shown in FIG. 8, and the mayonnaise falls on the subsequent work 50 b. Supplied.

  When mayonnaise is supplied to the subsequent workpiece 50b, the subsequent workpiece 50b is conveyed from there by the second belt conveyor 62 and reaches a position where the subsequent workpiece 50b can be imaged by the camera 90. At this time, imaging by the camera 90 is performed at a timing at which the subsequent workpiece 50b reaches a position where it can be imaged by the camera 90. The imaging by the camera 90 is performed when the time when the subsequent workpiece 50b is conveyed to the imaging position by the camera 90 has elapsed from the timing when the sensor 61b detects that the subsequent workpiece 50b has reached the first holding position 61a. It is done at the timing.

  When the subsequent work 50b arrives at the area R1 imaged by the camera 90 when the image is captured by the camera 90, it is detected by the captured image that the subsequent work 50b has reached the area R1. . When the subsequent workpiece 50b has not yet reached the region R1, it is detected from the captured image that the subsequent workpiece 50b has not yet reached the region R1. In this way, it is detected from the captured image whether the subsequent work 50b has reached the region R1 (S25).

  Further, when the rear workpiece 50 reaches the imaged region R1, and the rear workpiece 50b is captured by the camera 90 there, the posture of the rear workpiece 50b is detected.

  As described above, FIG. 12 shows a perspective view of the transfer apparatus 1 in a state where the subsequent workpiece 50b has reached the region R1 imaged by the camera 90. At this time, the rear workpiece 50b is conveyed on the second belt conveyor 62 in a state where the mayonnaise is placed on the rear workpiece 50b. When the subsequent work 50b reaches the region R1 imaged by the camera 90, the previous work 50a held by the second suction unit 40 is placed on the subsequent work 50b in an overlapping manner (S26).

  When the previous work 50a is placed over the subsequent work 50b, mayonnaise is supplied onto the subsequent work 50b. Therefore, when the previous work 50a is placed over the subsequent work 50b, the previous work 50a and the rear work 50b are attached by mayonnaise. That is, the previous work 50a and the subsequent work 50b are attached by mayonnaise (attachment process).

  As described above, when the camera 90 detects that the subsequent work 50b has reached the region R1, the previous work 50a held by the second suction unit 40 is placed on the subsequent work 50b. . If it is not detected by the camera 90 that the subsequent workpiece 50b has reached the region R1, the imaging of the region R1 is performed until the subsequent workpiece 50b is detected, and the subsequent workpiece 50b has reached the second holding position. The detection of whether or not is continued.

  At this time, when the previous workpiece 50a and the subsequent workpiece 50b are conveyed to the region R1, the postures of the previous workpiece 50a and the subsequent workpiece 50b are detected by being imaged by the camera 90. . That is, the posture when the previous workpiece 50a is conveyed to the region R1 and the posture when the subsequent workpiece 50b is conveyed to the region R1 are detected.

  As described above, the position of the subsequent work 50b is detected by the camera 90, and the previous work 50a held by the second suction unit 40 is matched with the position of the subsequent work 50b detected by the camera 90. The workpiece 50a is overlaid on the subsequent workpiece 50b. Accordingly, the previous work 50a can be accurately arranged at the position of the subsequent work 50b. Therefore, it is possible to more reliably place the previous work 50a so as to overlap the subsequent work 50b.

  Further, since the posture of the previous workpiece 50a and the posture of the subsequent workpiece 50b are respectively detected from the image captured by the camera 90, the previous workpiece 50a is placed on the subsequent workpiece 50b. In this case, the posture of the previous workpiece 50a can be matched with the posture of the subsequent workpiece 50b, and the previous workpiece 50a can be placed on the subsequent workpiece 50b. The posture of the subsequent workpiece 50b is detected by the camera 90, and the posture of the previous workpiece 50a held by the second suction unit 40 is matched with the posture of the workpiece 50b after being detected by the camera 90. It arrange | positions so that it may overlap with the subsequent workpiece | work 50b. Therefore, even if there is a variation in the posture of the previous workpiece 50a and the posture of the subsequent workpiece 50b that have been transported to the region R1, the respective workpieces 50 are stacked in a state in which the postures of the respective workpieces 50 are matched. Can be placed. Since the preceding workpiece 50a and the succeeding workpiece 50b can be arranged in an overlapping manner in a state in which the posture of the preceding workpiece 50a and the posture of the succeeding workpiece 50b coincide with each other, the appearance of the stacked workpiece 50 can be improved. Can do.

  Further, when the previous work 50a is stacked on the subsequent work 50b, the previous work 50a is disposed so as to overlap at least a portion of the subsequent work 50b to which mayonnaise is supplied. Thereby, the adhesive force of mayonnaise can be exhibited, and the preceding workpiece 50a and the succeeding workpiece 50b can be conveyed and moved in a state where the preceding workpiece 50a and the succeeding workpiece 50b are adhered.

  After that, the second suction unit 40 moves to the stacking position 63a on the third belt conveyor 63 while holding the stacked previous work 50a and the subsequent work 50b, as in the flow for the previous work 50a. (S27).

  When the stacked previous work 50a and the subsequent work 50b are arranged at the loading position 63a, the suction and holding of the previous work 50a and the subsequent work 50b by the second suction unit 40 are released (S28).

  When the arrangement of the stacked prior work 50a and the subsequent work 50b at the stacking position 63a is repeated a plurality of times, a combination of the multiple previous work 50a and the subsequent work 50b is stacked on the stacking position 63a. The combination of the plurality of previous workpieces 50a and the subsequent workpieces 50b loaded is moved into the box 80. As a result, the combination of the plurality of previous workpieces 50 a and the subsequent workpieces 50 b that are stacked is arranged in the box 80.

  When the subsequent work 50b is arranged inside the box 80, the conveyance flow for the subsequent work 50b is completed.

  In this manner, the transport of the previous work 50a and the transport of the subsequent work 50b are alternately performed, and the stacking of the previous work 50a and the subsequent work 50b by the stacking apparatus 100 is performed. The previous workpiece 50a and the subsequent workpiece 50b are overlapped to form a laminate of the workpieces 50. When a plurality of stacked bodies of the workpieces 50 are stacked at the loading position 63a and a stacked body of a predetermined number of workpieces 50 is formed, the stacked body is moved into the box 80. In the present embodiment, movement of the stacked workpieces 50 into the box 80 is performed manually. In addition, the movement of the stacked body of the workpieces 50 stacked in the box 80 may be automatically performed by a machine or may be performed by another method.

  As described above, the workpieces 50 are overlapped with each other via mayonnaise, and the stacked workpieces are moved to the loading position in a state where they are adhered to each other by the mayonnaise. The plurality of loaded workpieces 50 are moved into the box 80. Since the workpieces 50 are in a state of being attached via mayonnaise, the stacked state by stacking the workpieces 50 is maintained when the workpiece 50 is subsequently conveyed and moved. Thus, the mayonnaise functions as an adhesive for maintaining the state where the workpieces 50 are adhered to each other. Therefore, the workpiece 50 can be transported and moved in a state where the workpieces 50 are stacked and maintained in a stacked state.

  When the work 50 is transported and moved, the stacked work 50 can be transported and moved in a state where the stacked state of the work 50 is maintained, so that the stacked work 50 can be reliably transported. . Further, the stacked workpieces 50 can be transported and moved more efficiently.

  In the present embodiment, food ham is used as the work 50, and mayonnaise is used as the adhesive. Since the mayonnaise also has a function as an adhesive, it is not necessary to separately supply the mayonnaise and the adhesive when laminating the workpieces 50 via the adhesive. Accordingly, the manufacturing cost can be reduced to manufacture a laminate of the workpieces 50.

  In the above-described embodiment, the food ham is applied as the work 50, mayonnaise is supplied between the works 50, and the forms in which the hams adhere via the mayonnaise have been described. However, the present invention is not limited to the above embodiment. A workpiece other than ham may be used as the workpiece 50. For example, a plurality of breads may be stacked as the work 50.

  Moreover, what is supplied between the preceding workpiece 50a and the succeeding workpiece 50b may be other than mayonnaise. For example, a source may be supplied between the previous workpiece 50a and the subsequent workpiece 50b. In addition, seasonings other than mayonnaise and sauce may be used. As other seasonings other than mayonnaise, other seasonings such as mustard, ketchup, jam, and honey may be used. Moreover, as long as the workpiece | work 50 can be made to adhere, another adhesive may be used. As the pressure-sensitive adhesive, it may be a liquid having a viscosity, a gel-like material, and any other material can be used as long as it can maintain the adhered state between the workpieces when supplied between the workpieces. Good.

  Note that the work 50 may not be a food as long as it has a thin sheet shape. At that time, the adhesive may not be a food. The work may be other than food, and the pressure-sensitive adhesive may be other than food, as long as it can maintain the state of sticking and adhering between the works. Good.

14 Control Unit 40 Second Adsorption Unit 60 Belt Conveyor 70 Mayonnaise Supply Device

Claims (13)

An adhesive supply means capable of supplying an adhesive is provided,
A conveying apparatus for conveying a first work and a second work adhered by the pressure-sensitive adhesive supplied by the pressure-sensitive adhesive supply means. Holding each of the workpieces including the first workpiece and the second workpiece, and holding means capable of transporting the held workpiece;
The holding means holds only one of the first work and the second work attached by the adhesive, thereby attaching the first work and the second work attached. The conveying device according to claim 1, wherein the conveying device is held together.   The transport apparatus according to claim 1, further comprising a transport unit that sequentially transports a plurality of works including the first work and the second work along a transport path.   The conveying apparatus according to claim 3, wherein among the plurality of workpieces that are sequentially conveyed, the first workpiece is conveyed before the second workpiece. The pressure-sensitive adhesive supply means supplies the pressure-sensitive adhesive toward the second workpiece,
The first work and the second work are adhered to each other by the pressure-sensitive adhesive by placing the first work on a portion of the second work supplied with the pressure-sensitive adhesive. The transport apparatus according to claim 4. Holding means capable of holding the workpiece and transporting the held workpiece,
The conveying device according to claim 5, wherein the holding unit holds the first workpiece and the second workpiece attached together by holding only the first workpiece.   The transport apparatus according to claim 1, further comprising a position detection unit capable of detecting positions of the first workpiece and the second workpiece. The position detection unit includes an imaging unit capable of capturing an image of the workpiece,
The transport apparatus according to claim 7, wherein the position of the workpiece can be detected from an image captured by the imaging unit. Transport means for sequentially transporting a plurality of works including the first work and the second work along a transport path;
Holding means capable of holding the workpiece and transporting the held workpiece;
Of the plurality of workpieces that are sequentially conveyed, the first workpiece is conveyed before the second workpiece,
A position of the first workpiece on the conveying means is detected by the position detecting means;
9. The transport apparatus according to claim 7, wherein the holding unit holds the first workpiece based on the position of the first workpiece detected by the position detection unit. A position of the second workpiece on the conveying means is detected by the position detecting means;
Aligning the first workpiece on the second workpiece by aligning the first workpiece held by the holding device with the position of the second workpiece detected by the position detector. The conveying apparatus according to claim 9. The position detecting means can detect the posture of the workpiece,
The position of the second workpiece is detected by the position detection unit, and the posture of the first workpiece held by the holding unit is matched with the posture of the second workpiece detected by the position detection unit. The transport apparatus according to claim 10, wherein the first work is disposed so as to overlap the second work. The workpiece including the first workpiece and the second workpiece is food,
The conveying device according to any one of claims 1 to 11, wherein the pressure-sensitive adhesive is a seasoning having adhesiveness. A transport method for transporting a workpiece by a transport device including an adhesive supply means capable of supplying an adhesive,
An attaching step of attaching the first workpiece and the second workpiece by the adhesive supplied by the adhesive supply means;
A conveyance method comprising: a conveyance step of conveying the first workpiece and the second workpiece adhered to each other.

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