JP2020050478A - Conveyor and transfer system - Google Patents

Abstract

To provide a station conveyor and a transfer system including the same, capable of stably conveying an easily deformable object to be conveyed and readily transferring it.SOLUTION: A station conveyor 1 includes a conveying body 6 for conveying an object W to be conveyed from upstream to downstream. The station conveyor 1 is installed at a downstream end part of the conveying body 6 and includes a front guide 7 for receiving the object W to be conveyed which is conveyed to the conveying body 6. The station conveyor 1 includes a lift 8 having a plurality of elevating and lowering bodies 34, arranged at intervals, capable of elevating and lowering the object W to be conveyed received by the front guide 7.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a conveyor having a transporting body for transporting articles and a transfer system including the same.

  Usually, in palletizing a conveyed object conveyed by a conveyor, a hand that scoops the conveyed object from below with a hook is used (Patent Document 1 below). When such a hand is used, the hook needs to cross the space under the loaded bag when the hook is closed, and a roller in the transport direction is required to secure a space for the orbit for closing the hook. A structure using a roller conveyor is used, for example, such that the brackets are arranged at intervals or a fork-like lift is lifted up and down from a gap between rollers to lift a conveyed object.

Japanese Patent No. 2527489

  However, when handling articles that are likely to undergo a shape change, such as hemp bags in which metal parts such as nails, bolts, and nuts are accommodated with a margin as contents, it is difficult to perform stable transport with the above-described conveyor. .

  The cause of the unstable transport state is a gap between the rollers of the roller conveyor. In particular, in the conveyor as described above, it is necessary to increase the dimension of the gap between the rollers to some extent in order to secure a path for the hook of the hand or the fork of the lift. On the other hand, the contents (for example, heavy metal parts) move freely in the bag of the goods, and the contents fall into the gap between the front and rear rollers at the time of conveyance, so that the goods move while rattling. However, problems such as the unstable shape of the conveyed goods may occur.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a conveyor that can stably convey easily deformed conveyed objects, and that can easily transfer, and a transfer system including the conveyor. I do.

  The conveyor according to claim 1, wherein the conveyor transports the transported material from upstream to downstream, a front guide installed at a downstream end of the transporter and configured to receive the transported material transported to the transporter, A lift capable of moving up and down the conveyed object received by the front guide and having a plurality of elevating bodies arranged at intervals.

  According to a second aspect of the present invention, in the conveyor according to the first aspect, the transporting body has an inclined surface that is inclined downward from upstream to downstream, and the transported body is under its own weight so that the transported object collides with the front guide. It is a thing to glide.

  According to a third aspect of the present invention, there is provided the conveyor according to the second aspect, wherein the transporting body allows a vertical movement of the lifting and lowering body, and a plurality of openings formed intermittently in a direction crossing the transporting direction. It has.

  According to a fourth aspect of the present invention, in the conveyor according to the second or third aspect, the transport body includes a plate-shaped member, and the inclined surface is curved so that the inclination angle decreases as the front guide approaches. And a curved inclined surface formed by the plate-shaped member.

  The conveyor according to claim 5, wherein in the conveyor according to any one of claims 1 to 4, the elevating body lifts the conveyed object after an elevating operation of elevating the conveyed object received by the front guide. Is to wait at.

  According to a sixth aspect of the present invention, in the conveyor according to the fifth aspect, the front guide has a length in a vertical direction to which a conveyed object can continuously contact during the elevating operation of the elevating body.

  A transfer system according to claim 7, comprising a conveyor according to any one of claims 1 to 6, and a finger member inserted into a space between the elevating body that lifts a conveyed object, wherein the elevating body is moved by the finger member. And a robot having a hand device that scoops up and removes the conveyed product from the robot.

  ADVANTAGE OF THE INVENTION According to this invention, the thing which is easy to deform | transform can be stably conveyed and can be easily transferred.

1 is a side view of a transfer system according to a first embodiment of the present invention. It is a top view of a transfer system same as the above. (A) is a side view of the conveyor of the conveyor of the same transfer system, (b) is a top view of the same conveyor. (A) is a side view of the elevating body of the conveyor, and (b) is a plan view of the elevating body. It is a side view which shows the conveyance operation | movement of the conveyance thing by a conveyor same as the above. (A) And (b) is a side view which shows the leveling operation | movement of the conveyed goods by the said conveyor. It is a side view which shows the raising operation | movement of the conveyed goods by a conveyor same as the above. It is a side view which shows the transfer operation | movement of the conveyed goods by said transfer system. It is a side view which shows the leveling operation | movement of the conveyance thing by the conveyor of the transfer system of 2nd Embodiment, (a) and (b).

  Hereinafter, the configuration of the first exemplary embodiment of the present invention will be described with reference to the drawings.

  1 and 2, reference numeral 1 denotes a station conveyor as a conveyor. The station conveyor 1 is used in a phase in which a conveyed article W, which is an article conveyed from the upstream conveyor 2, is conveyed and the conveyed article W is transferred by the robot 3. The station conveyor 1, the upstream conveyor 2, and the robot 3 constitute a transfer system S. In the present embodiment, for example, a belt conveyor that automatically conveys the conveyed articles W is used as the upstream conveyor 2, but the present invention is not limited to this, and any other conveyor may be used. In addition, the upstream conveyor 2 is not an essential component. For example, an operator may carry the transported object W into the station conveyor 1 manually. Hereinafter, the up-down direction is based on a state in which the station conveyor 1 is installed on a flat surface. Further, a left-right direction that intersects or is orthogonal to the transport direction is referred to as a width direction.

  The station conveyor 1 is also called a handling station. The station conveyor 1 is stopped by a support section 5 serving as a base, a transport body 6 for transporting the transport object W, a front guide 7 for stopping the transport article W transported by the transport body 6, and a front guide 7. And a lift 8 for raising and lowering the conveyed object W.

  The support portion 5 is fixed to the installation surface by a leg 11. The leg 11 is also referred to as a boot or the like, and can adjust an installation height with respect to the support 5, that is, the installation surface of the station conveyor 1. The support portion 5 of the present embodiment is formed in a frame shape by, for example, a plurality of frame bodies 10, but is not limited thereto, and may be formed in a box shape or the like.

  The transport body 6 shown in FIGS. 1, 2, 3 (a) and 3 (b) transports the transported object W carried into the station conveyor 1 to the front guide 7 side. The transport body 6 is a plate-shaped member in the present embodiment, and is a chute for causing the transported object W to slide toward the front guide 7 without driving by its own weight. The carrier 6 is fixed to the upper part of the support 5. In the present embodiment, the transport body 6 is supported by the support bracket 13 on the upstream side in the transport direction with respect to the support portion 5. The support bracket 13 is attached to an upper end of a support 14 projecting upward from an upper portion of the support 5. Further, the transport body 6 is supported above the support portion 5 on the downstream side in the transport direction with respect to the support portion 5. That is, the transport body 6 is fixed at a position where the upstream side is higher than the downstream side. In the present embodiment, the transport body 6 has a transport surface 15 at the upper portion for transporting the transported object W by sliding under its own weight. In addition, the transport body 6 is curved so that the inclination angle decreases as approaching the front guide 7. For this reason, the transport surface 15 has an inclined surface 16 inclined downward from the upstream side to the downstream side, and a flat surface 17 continuous with the inclined surface 16. In the present embodiment, the inclined surface 16 has an upstream end that faces the downstream end of the conveyor 2. In addition, the inclined surface 16 is a curved inclined surface which is curved so that the inclination angle decreases as the front guide 7 approaches. For example, the inclined surface 16 is such that the inclination angle θ on the upstream side is a predetermined angle, the inclination angle gradually decreases toward the downstream side, and the inclination angle is 0 °, that is, smoothly continues with the flat flat surface 17. It is curved. That is, the inclined surface 16 is formed to include an upstream portion 16a in which the inclination angle θ is set to a predetermined acute angle, and a downstream portion 16b in which the inclination angle gradually decreases from the upstream side to the downstream side. I have. In addition, the inclination angle θ on the upstream side of the inclined surface 16 is set such that the conveyed article W slides under its own weight and always collides with the front guide 7 according to the article W to be conveyed. In the form, for example, it is 45 °.

  The transport body 6 has an opening 18 penetrating in the vertical direction continuously or intermittently in the transport direction. In the present embodiment, the opening 18 is formed in a range from the downstream side portion 16b of the inclined surface 16 to the flat surface 17. Further, a plurality of openings 18 are intermittently arranged in the width direction. For example, the openings 18 are arranged at equal or substantially equal intervals in the width direction.

  Further, a side guide 20 that guides the transport object W from both sides in the width direction is attached to the transport body 6. In the present embodiment, the side guide 20 is provided with an upstream guide 21 disposed on the upstream side of the transport body 6 and a downstream guide 22 disposed on the downstream side of the transport body 6. The upstream guide 21 regulates the position in the width direction of the conveyed article W to be conveyed into the conveying body 6. The upstream guides 21 are plates arranged on both sides in the width direction on the upstream side of the transport body 6. The upstream side guide 21 is arranged such that the upstream side protrudes from the upstream side of the transport body 6 and the downstream side corresponds to the upstream side portion 16 a of the inclined surface 16 on the transport surface 15 of the transport body 6. The upstream guide 21 of the present embodiment is arranged to extend to the position of the downstream end of the conveyor 2. Further, the upstream guide 21 is attached to the transport body 6 such that the position in the width direction on the downstream side can be adjusted according to the width of the transported object W, as shown by the two-dot chain line in FIG. The downstream guide 22 regulates the position in the width direction of the article conveyed to a position where the article is brought into contact with the front guide 7 by the conveyance body 6. The downstream guides 22 are plates disposed on both sides in the width direction on the downstream side of the transport body 6. The downstream side guide 22 is located at a position where the upstream side is distant from the downstream side of the upstream side guide 21 and at a position where the downstream side is close to the front guide 7. The downstream side guide 22 of the present embodiment is arranged at a position where the upstream side corresponds to the downstream side portion 16b of the inclined surface 16 on the transfer surface 15, and the downstream side corresponds to the flat surface 17. The downstream guide 22 is attached to the transport body 6 such that the position in the width direction can be adjusted according to the width of the transported object W, as shown by the two-dot chain line in FIG. Further, the upstream end of the downstream side guide 22 is gradually curved so as to expand toward the upstream side. In addition, the side guide 20 is not limited to this configuration, and may be configured by three or more guides, or may be configured by one guide.

  The front guide 7 shown in FIGS. 1 and 2 is a stopper that receives and stops the transported object W when the transported object W transported along the transport surface 15 of the transported body 6 collides. That is, the front guide 7 sets the coordinate origin serving as the zero reference of the conveyed object W conveyed by the conveyer 6 at the collision position of the conveyed object W with the front guide 7. The front guide 7 is attached to the upper surface of the support unit 5 at the downstream end of the carrier 6. That is, the front guide 7 is located downstream of the transport surface 15 of the transport body 6. The front guide 7 is formed to extend in the width direction, and is formed to rise vertically above the flat surface 17 of the transport surface 15. Further, the front guide 7 is formed to have a length in the vertical direction to which the conveyed object W can contact during the elevating operation by the lift 8, particularly during the elevating operation for the leveling operation described later.

  In the present embodiment, the front guide 7 is constituted by a guide member 25. The guide member 25 is a plate-like member, and is arranged along the width direction. The lower part of the guide member 25 is attached to the upper part of the support part 5, and the upper part of the guide member 25 is inclined toward the side opposite to the carrier 6.

  The transported object W transported to a position where the transported object W is received by the front guide 7 is detected by the sensor 29. The sensor 29 is a front guide arrival detection sensor that detects that the transported object W has reached the front guide 7. In the present embodiment, for example, an optical sensor having a light emitting unit and a light receiving unit is used as the sensor 29, and is disposed, for example, near the downstream end of the transport body 6, that is, at a position slightly upstream of the front guide 7. . The sensor 29 is disposed such that the detection optical axis A between the light emitting unit and the light receiving unit crosses the transport body 6 through the through holes 22a opened in the downstream guides 22 on both sides. For this reason, when the transported object W is transported to the position of the front guide 7 and crosses the detection optical axis A, light reception at the light receiving unit is blocked by the transported object W, and the transported object W comes into contact with the front guide 7. It can be seen that the sheet has been transported to the position. The sensor 29 is not limited to an optical sensor. For example, a contact sensor that detects the position of the transported object W by contact with the transported object W, or the position of the transported object W by capturing an image of the transported object W and analyzing the image thereof. Other known configurations, such as an image sensor that detects, may be used.

  The lift 8 lifts the transported object W from the transport surface 15 and enables handling by the robot 3. The lift 8 is attached to the support section 5 below the transport body 6 via an attachment member 31. In the present embodiment, the lift 8 includes a driving unit 33 and an elevating body 34 that is moved up and down by the driving unit 33. As the driving unit 33, for example, a fluid pressure cylinder that can expand and contract in the vertical direction can be used. In the present embodiment, an air cylinder is used, and the elevating body 34 moves up and down in response to the expansion and contraction movement of the piston rod due to switching between supply and discharge of pressurized air to and from the air cylinder body. In the present embodiment, since the extension speed of the piston rod is set to be lower than the contraction speed, the lowering speed is set to be higher than the rising speed of the elevating body 34.

  The lifting body 34 shown in FIG. 1, FIG. 2, FIG. 4A and FIG. 4B raises and lowers the transported object W by moving forward and backward through the opening 18 formed in the transporting body 6. The elevating body 34 of the present embodiment is formed, for example, in a plate shape and extends in the up-down direction. The plurality of elevating bodies 34 are set at predetermined intervals in the direction in which the transported object W is transported by the transporting body 6. The plurality of elevating members 34 are formed in a comb-like shape on a plate-shaped elevating member 41. Further, in the present embodiment, a plurality of elevating members 41 are grouped by the holding member 42 at intervals in the width direction at predetermined intervals according to the width pitch of the openings 18 arranged in the width direction. Together, they constitute a lifting plate 43. The holding member 42 is formed in a flat plate shape, and the upper end, which is the tip end of the elevating body 34 of each elevating member 41 arranged in the upper part of the holding member 42, has the same or substantially the same height in the present embodiment. Is set to Further, the holding member 42 is connected to the driving unit 33, and the lifting member 34 is moved up and down in accordance with expansion and contraction of the driving unit 33, so that the elevating body 34 advances and retreats from the opening 18. That is, the elevating body 34 can move up and down between a rising position, which is a stroke end for moving out of the opening 18 and lifting the conveyed object W, and a descending position, which is a stroke end for retracting the opening 18. .

  The elevating body 34 is detected by an elevating sensor (not shown). The elevating sensor is a sensor that detects whether or not the elevating body 34 has advanced from the opening 18. In the present embodiment, the lifting sensor is configured by, for example, a reed switch that is turned on and off as the lifting body 34 moves up and down. However, the invention is not limited thereto, and the optical sensor and the lifting body 34 are imaged and the image is analyzed. Other known configurations, such as an image sensor that detects the position of the elevating body 34, may be used.

  The robot 3 shown in FIG. 1 and FIG. 2 transfers the conveyed object W lifted from the transport body 6 (the transport surface 15) by the lifting body 34 of the lift 8 from the station conveyor 1. In the robot 3, the base end of the articulated arm 46 is rotatably supported, and a hand device 47 is attached to the distal end of the articulated arm 46. The hand device 47 includes a pair of base portions 48 that can be opened and closed in conjunction with each other, and hooks 49 that are a plurality of finger members provided on the base portions 48, respectively. After inserting the hook 49 into the space between the elevating body 34 that has advanced from the (transport surface 15), the base portion 48 is closed, thereby grasping the conveyed object W, and moving the hand device 47 with the conveyed object W by the articulated arm 46. Then, the transported object W is picked up from the elevating body 34 and taken out. That is, the thickness of the hook 49 is formed smaller than the interval between the elevating bodies 34 in the transport direction of the transport body 6. Further, the inclination angle of the inclined surface 16 is set so that the hook 49 does not interfere with the conveyance body 6 when the hook 49 scoops the conveyance object W from the elevating body 34.

  Next, the operation of the first embodiment will be described.

  As shown in FIG. 5, the transported object W carried into the station conveyor 1 by the conveyor 2 is placed on the transport surface 15 from the upstream of the transport body 6, and the upstream guide 21 and the downstream guide 22 of the side guide 20. While slid down its own weight along the transport surface 15 and collides with the front guide 7.

  For example, when the conveyed object W includes metal parts such as nails, bolts, and nuts as contents, and these contents are accommodated in a bag such as a hemp bag with a margin, the collision occurs with the front guide 7. There is a case where the contents of the transported object W are biased toward the front guide 7 inside the bag body, and the package of the transported object W is deformed. Such deformation of the transported object W may hinder stable transfer of the transported object W by the robot 3.

  In the present embodiment, when the collision of the transported object W with the front guide 7 is detected by the sensor 29, the control unit expands and contracts the driving means 33 of the lift 8 to move the elevating body 34 up and down a predetermined number of times. As shown in FIG. 6A and FIG. 6B, a leveling operation for dispersing the bias of the contents is performed. Specifically, in the leveling operation of the present embodiment, the elevating body 34 advances from the opening 18 by the extension of the driving means 33 of the lift 8 to move the transported object W to the transporting body 6 (the transporting surface 15). After being raised to a predetermined height, the lifting / lowering body 34 is retracted to the opening 18 due to the contraction of the driving means 33 to collide the transported object W with the transported body 6 (the transport surface 15), thereby dispersing the bias of the contents. . In this smoothing operation, the driving means 33 moves the elevating body 34 between a predetermined rising position and a predetermined lowering position. In the present embodiment, the predetermined ascending position and the descending position are set to the maximum ascending position and the largest descending position, that is, the stroke end.However, the present invention is not limited to this. The low height position and the predetermined lowering position may be higher than the maximum lowering position. Further, the number of times that the transported object W collides with the transporting body 6 (the transporting surface 15) may be set in advance, or may be set according to the package of the transported object W. While the article W is being moved up and down by the elevating body 34, the article W continues to contact the front guide 7 continuously, so that a part of the article W rides over the front guide 7 to the opposite side of the article 6 and the front. The article W is not caught on the guide 7 and the position of the transported object W is determined based on the position of contact with the front guide 7 as a zero reference. Further, the leveling operation described above is detected when the lifting of the lifting body 34 is detected by the lifting sensor. Since the conveyed object W cannot be carried into the station conveyor 1 while the elevating body 34 is moving up and down, if the elevating sensor detects the elevating of the elevating body 34, the conveyor 2 is stopped in this embodiment to The conveyance to the station conveyor 1 is stopped.

  When the contents of the conveyed object W are leveled in the bag by the leveling operation, the conveyed object W is held at a position where the conveyed object W is raised to a maximum raised position as shown in FIG. Wait.

  Then, as shown in FIG. 8, the hook 49 of the hand device 47 of the robot 3 is inserted between the elevating bodies 34 at the ascending position of the elevating bodies 34, and the leveled goods W are scooped up from the elevating bodies 34, and the station conveyor is moved. Unload from 1 and transfer.

  The lifting / lowering body 34 on which the transported object W has been transferred is lowered by the contraction of the driving means 33, retreats to the opening 18, and is at a position below the transport surface 15. When the evacuation of the elevating body 34 is detected by the elevating sensor, in the present embodiment, the conveyor 2 is operated to carry the next conveyed object W into the station conveyor 1.

  Hereinafter, the above operation is repeated until the transfer of the required number of articles W is completed.

  As described above, according to the first embodiment, the front end guide 7 that receives the transported object W is provided at the downstream end of the transported body 6 that transports the transported object W from the upstream to the downstream, so that it is easily deformed. The conveyed object W is stably conveyed, and the conveyed object W received by the front guide 7 can be moved up and down by the lift 8 having a plurality of elevating members 34 arranged at intervals, so that the elevating member 34 of the lift 8 can be moved. Thus, the transported object W lifted from the transporting body 6 can be scooped up by inserting the hooks 49 between the elevating bodies 34, and the transported object W can be easily transferred by the hand device 47 of the robot 3.

  That is, when the transported object W is scooped by the hook 49 of the hand device 47 of the robot 3, it has conventionally been necessary to insert the hook 49 into the lower portion of the transported object W using the space provided in the transported body. On the other hand, in the present embodiment, the hook 49 can be inserted between the elevating members 34 by setting the position where the conveyed object W is lifted from the conveying member 6 by the elevating members 34 arranged at intervals in the conveying direction. There is no need to provide a space for inserting the hook 49 into the carrier 6. For this reason, the transport body 6 does not rattle the transported object W as in the case where a wide gap is provided between the rollers of the roller conveyor, for example, and the metal parts whose contents are heavy are particularly heavy. Even in the case of the above, the contents fall, and the package of the transported object W collapses, the transported object W is transported while rattling, and noise is generated due to the rattling of the transported article W during transportation. The rollers are not damaged.

  Also, by forming an inclined surface 16 inclined downward from the upstream to the downstream in the transport body 6 and sliding the transported object W by its own weight so as to collide with the front guide 7, the transported object W can be used without using a driving source. It is possible to provide a simple station conveyor 1 that can stably transport W, is lower in cost than when a roller conveyor or the like is used, and is energy saving.

  A lifting operation is performed a predetermined number of times to raise and lower the transported object W received by the front guide 7 by using an elevating body 34 for lifting the transported object W from the transporting body 6 for transfer by the hand device 47 of the robot 3. By leveling the unevenness of the contents of the conveyed product W, for example, a leveling process using a separate flattener or the like is not required, and an efficient configuration and layout can be achieved, and the leveled conveyed product W can be raised. By standing by in the state in which the transfer is performed, the transported object W can be stably transferred by the hand device 47.

  At this time, since the front guide 7 has a length in the vertical direction to which the conveyed object W can continuously contact during the elevating operation of the elevating body 34, a part of the conveyed object W is moved up. It is possible to avoid getting over the front guide 7 and getting caught on the front guide 7.

  Further, the inclined surface 16 is formed as a curved inclined surface formed by curving the transport body 6 so that the inclined angle 16 decreases as the distance to the front guide 7 decreases. Due to the steep inclination angle on the upstream side, the conveyed object W can be slid swiftly and reliably conveyed to the front guide 7 and collided with the front guide 7, and the gentle inclination angle on the downstream side of the inclined surface 16 allows It is possible to prevent the contents of the conveyed article W that has collided with the front guide 7 from being excessively skewed to the downstream side and to significantly deform the package, and to prevent the leveling operation from being complicated.

  Then, the conveyed object W is lifted by the elevating body 34 of the station conveyor 1, and the hook 49 of the hand device 47 of the robot 3 is inserted into the space between the elevating bodies 34 with the conveyed object W raised. By scooping up the conveyed product W from 34, the unevenness of the contents is large, the shape of the package is likely to change, and the conveyed material W having high hardness and heavy weight is stably conveyed and transferred. A transfer system S capable of mounting can be provided.

  Further, by setting the descending speed to be higher than the ascending speed of the elevating body 34, the impact on the conveyed material W is reduced at the time of ascent and the station conveyor 1 can receive the next conveyed material W at the time of descending. The elevating body 34 is quickly moved to the state, and the level of the leveling effect can be enhanced by increasing the force received by the transported object W in the leveling operation.

  Further, a plurality of openings 18 are intermittently arranged in the width direction, and the opening shape is large enough to allow the elevating body 34 of the lift 8 to pass therethrough. When the object is moved, the transported object W or its contents can be smoothly moved without dropping into the opening 18.

  The front guide 7 may be configured by a plurality of guide members according to the length of the transported object W and the like. For example, as in the second embodiment shown in FIG. 9, the front guide 7 may be constituted by two guide members 25 and 51. The guide member 51 adjusts a stop position according to the length of the transported object W. The guide member 51 is attached so as to cover the side of the guide member 25 facing the carrier 6. The vertical length of the guide member 51 can be set arbitrarily. For example, the vertical length of the guide member 51 may be set shorter than that of the guide member 25. The guide member 51 is attached to the guide member 25 by a fixing member 52 such as a bolt, and the position of the guide member 51 in the conveyance direction of the conveyed object W with respect to the guide member 25 can be adjusted by the fixing member 52. ing. In this case, as shown in FIGS. 9 (a) and 9 (b), the predetermined ascent and descent positions for moving the elevating body 34 during the leveling operation of the transported object W are the maximum ascending. By setting the height position lower than the position and the maximum descending position, the conveyed object W continues to the front guide 7 while being moved up and down by the elevating body 34 as in the first embodiment. A part of the conveyed product W does not climb over the front guide 7 on the side opposite to the conveyance body 6 and is not caught on the front guide 7, and the position of the conveyed product W is determined to be in contact with the front guide 7. Determined as zero reference.

  Further, in each of the above-described embodiments, the transport surface 15 of the transport body 6 may not include the flat surface 17 and may include only the inclined surface 16.

  In addition, the transport body 6 may include a transport unit such as a roller on a part of the transport surface 15 on the upstream side, for example.

  Further, the elevating body 34 is configured to advance and retreat with respect to the opening 18 formed in the transport body 6, but a part of the transport surface 15 of the transport body 6 is formed by the tip of the elevating body 34. Alternatively, the lifting / lowering body 34 may move back and forth from the transport surface 15.

  In addition, the elevating body 34 is arranged in a plurality of rows in the width direction at intervals in the conveyance direction of the article W, but may be arranged in a plurality of rows in the conveyance direction at intervals in the width direction, for example. A plurality of rows may be arranged at intervals in a predetermined direction intersecting the width direction and intersecting the predetermined direction. In this case, by controlling the direction and the position of the hand device 47 by the robot 3 so that the hook 49 is inserted into the space between the elevating bodies 34, the same operation as in the above embodiment can be performed.

1 Station Conveyor as Conveyor 3 Robot 6 Carrier 7 Front Guide 8 Lift
16 slope
18 opening
34 lifting body
47 Hand device
49 Hooks as finger members S Transfer system W Conveyance

Claims (7)

A transport body that transports the transported material from upstream to downstream;
A front guide that is installed at the downstream end of the transport body and receives the transported material transported to the transport body,
A conveyor capable of moving up and down the conveyed object received by the front guide and having a plurality of elevating bodies arranged at intervals. 2. The conveyor according to claim 1, wherein the transporting body has an inclined surface that is inclined downward from upstream to downstream, and slides the transported object under its own weight so as to collide with the front guide. 3. 3. The conveyor according to claim 2, wherein the transporter has a plurality of openings intermittently formed in a direction intersecting a transport direction while allowing the elevator to move up and down. 4. The carrier includes a plate-shaped member,
4. The conveyor according to claim 2, wherein the inclined surface is a curved inclined surface formed by the plate-shaped member that is curved so that the inclination angle decreases as approaching the front guide. 5. The conveyor according to any one of claims 1 to 4, wherein the elevating body stands by in a state where the conveyed object is lifted after an elevating operation for elevating and lowering the conveyed object received by the front guide. The conveyor according to claim 5, wherein the front guide has a length in a vertical direction to which a conveyed object can continuously contact during the elevating operation of the elevating body. A conveyor according to any one of claims 1 to 6,
A robot having a finger member inserted into the space between the elevating body having lifted the conveyed object, and a hand device for scooping up and removing the conveyed object from the elevating body by the finger member. Loading system.

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