JP5924018B2 - Conveying apparatus and conveying method - Google Patents

Description

  The present invention relates to a transport apparatus and a transport method for transporting a relatively thin plate glass or the like.

  Conventionally, for example, a conveyor has been used to convey a thin plate-like workpiece such as a plate glass. In order to cope with long-distance conveyance and changes in the conveyance distance, a plurality of conveyors may be arranged in series in the conveyance direction. In this case, since the rotating body (pulley) is located at the end of the conveyor, the conveyor conveyance surface cannot be maintained, and a portion where contact between the workpiece and the conveyor is interrupted occurs in the continuous portion. When the workpiece being transported passes over the interrupted portion and passes between the conveyors, the downstream end (tip portion) of the workpiece in the transport direction is curved downward and droops.

  Then, it is the conveyance apparatus which ejects gas and floats and conveys a workpiece | work, Comprising: The structure which increases the amount of gas ejection in said connection part from other than a connection part is proposed (for example, patent document) 1, 2). In addition, there is also proposed a conveyance device that curves the workpiece being conveyed in a vertically downward projecting arcuate shape by inclining the jet direction of the jet part that ejects gas from the vertical upper side to the inner side in the width direction of the workpiece. (For example, Patent Document 3).

Patent No. 4501713 JP 2007-8644 A Japanese Patent No. 4183525

  Even if it is any conveyance apparatus of patent documents 1-3, a contact of a workpiece | work and a belt conveyor is interrupted in said connection part. Then, due to the dead weight of the part of the work that is not in contact with the belt conveyor, the central part in the width direction of the work on the downstream side sinks vertically downward and collides with the belt conveyor on the downstream side. There is a possibility that.

  An object of the present invention is to provide a transport apparatus and a transport method capable of avoiding a situation in which a central portion on the downstream side in the transport direction of a workpiece is bent vertically downward and collides in connection between apparatuses.

In order to solve the above problems, the conveying device of the present invention, transports the workpieces having flexible, and a plurality of conveying portions, which are paired direction arranged between the plurality of conveying portions, facing a plurality of conveying portions multiple arranged in a square direction, causing the flow of gas vertically upward, with a floating upper portion Ru is floated work, a floating top, the pressure lower than the pressure which the work is kept horizontally by the flow of gas In the plurality of downstream end floating portions, which are the floating portions arranged at the downstream end in the conveyance direction among the plurality of floating portions, the conveyance portions adjacent to each other are recessed vertically below the horizontal. The levitation force stronger than the outer side of the opposing interval is applied to the workpiece with respect to the center side of the opposing interval.

  A levitation force weaker than that of the surroundings may be applied to the levitation portion upstream of the levitation portion at the downstream end among the plurality of levitation portions.

  A plurality of first detection units that detect that the downstream end of the workpiece, which is the downstream end in the conveyance direction of the workpiece, has arrived, and a plurality of positions in the conveyance direction that are upstream from the first detection unit in the conveyance direction. A plurality of second detectors for detecting that the upstream end of the workpiece, which is an upstream end in the workpiece conveyance direction, and a set period specified based on the detection of the first detector, the second detector A levitation control unit that applies a levitation force weaker than the surroundings to the floating portion near the workpiece upstream end, which is an upstream end portion in the workpiece conveyance direction, identified based on the detection of the workpiece. .

  Among the plurality of floating portions, with respect to the plurality of downstream end floating portions, the downstream end floating portion arranged on the center side of the opposing interval between the adjacent transport units is more than the downstream end floating portion arranged outside the opposing interval. Also, the gas flow upward in the vertical direction may be strengthened.

  Among the plurality of floating portions, with respect to the plurality of downstream end floating portions, the downstream end floating portion arranged on the center side of the opposing interval between the adjacent transport units is more than the downstream end floating portion arranged outside the opposing interval. Alternatively, the position where the gas flow is generated may be arranged vertically upward.

  A first detection unit that detects that the downstream end of the workpiece, which is the downstream end in the conveyance direction of the workpiece, has arrived, a set period that is specified based on detection by the first detection unit, and an interval between adjacent conveyance units And a levitation control unit that controls the levitation unit so as to apply a levitation force stronger than the outside of the facing interval to the center side.

  In order to solve the above-mentioned problems, a plurality of rotating bodies according to the present invention and a plurality of endlessly stretched tensions by a plurality of rotating bodies and transporting a flexible work are arranged opposite to each other in parallel to the transport direction. And a plurality of floating parts that are arranged in a direction opposite to the plurality of conveyance parts and in a conveyance direction between the plurality of conveyance parts and cause a gas flow upward in the vertical direction to float the workpiece. The transport method using the transport device provided detects that the work downstream end, which is the downstream end in the work transport direction, has arrived, and is set based on the detection of the arrival of the work downstream end, A levitation force stronger than the outside of the opposing interval is applied to the workpiece on the center side of the opposing interval of the adjacent conveyance units.

  According to the present invention, it is possible to avoid a situation in which the central portion on the downstream side in the workpiece conveyance direction curves and collides vertically downward in the connection between apparatuses.

It is explanatory drawing for demonstrating the structure of the conveying apparatus in 1st Embodiment. It is explanatory drawing for demonstrating the shape of the workpiece | work in conveyance. It is explanatory drawing for demonstrating the bending of the workpiece | work in conveyance. It is explanatory drawing for demonstrating the inclination of the workpiece | work in conveyance. It is explanatory drawing for demonstrating the downstream end floating part of a 1st modification. It is explanatory drawing for demonstrating the conveying apparatus of a 2nd modification. It is a flowchart for demonstrating the conveyance method in a 2nd modification. It is explanatory drawing for demonstrating the conveying apparatus of a 3rd modification. It is a flowchart for demonstrating the conveyance method in a 3rd modification.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  The conveying apparatus of this embodiment conveys a thin plate-like workpiece, and here, a conveying apparatus that conveys a flexible glass plate having a plate thickness of about 0.1 mm to 0.3 mm as a workpiece will be described. .

  FIG. 1 is an explanatory diagram for explaining the structure of the transport apparatus according to the first embodiment. 1A shows a top view of the transfer apparatus 100, FIG. 1B shows a front view of the transfer apparatus 100, and FIG. 1C shows a side view of the transfer apparatus 100.

  In the present embodiment, as shown in FIGS. 1A to 1C, a plurality of transfer apparatuses 100 are used separately from each other in the work transfer direction (indicated by an arrow X). Further, an apparatus other than the conveying apparatus 100 that accepts a workpiece may be arranged on the downstream side in the conveying direction.

  The transport apparatus 100 includes a rotating body 110, a transport unit 112, a protrusion 114, and a floating part 116.

  The rotating body 110 is an annular member having a through hole in the center, and a plurality (two in this embodiment) are arranged in the transport direction. In addition, a plurality of (two in the present embodiment) rotating bodies 110 are arranged facing each other in the horizontal direction and perpendicular to the conveying direction, and rotate together with the shaft 110a. Therefore, the rotating shaft of the rotating body 110 is horizontal and perpendicular to the transport direction.

  The base 102 is a foundation of the transfer device 100. The support leg 104 is fixed upright on the base 102. A through hole 104 a is provided in the upper part of the support leg 104. The shaft 110a is rotatably supported via a bearing provided on the inner peripheral surface of the through hole 104a.

  A pulley 110b is attached to the other end of the two shafts 110a arranged on the upstream side in the transport direction. The pulley 110b rotates integrally with the shaft 110a. A through-hole 104b is also provided in the lower portion of the support leg 104, and the shaft 110c is inserted into both of the opposing through-holes 104b, and is rotatably rotatable via a bearing provided on the inner peripheral surface of the through-hole 104b. Be supported.

  A pulley 110d is also attached to the shaft 110c, and the pulley 110d rotates integrally with the shaft 110c. The belt 110e is stretched endlessly by a pulley 110b positioned vertically above and a pulley 110d positioned vertically below, and transmits the rotational force of the pulley 110d to the pulley 110b.

  A shaft coupling 110f is provided at one end of the shaft 110c. One end of the shaft of the driving device 110g such as a motor is fitted into the shaft coupling 110f on the opposite side of the shaft 110c. The rotational force of the driving device 110g is transmitted to the shaft 110c by the shaft coupling 110f.

  The rotating body 110 is rotated by the rotational force of the driving device 110g transmitted by such a mechanism. Here, the configuration in which one driving device 110g rotates the rotating body 110 has been described as an example. However, for example, a plurality of driving devices 110g may rotate the rotating body 110 in synchronization. In addition, here, the pulleys 110b and 110d are described as an example in which the pulleys 110b and 110d are disposed on the outer side in the facing direction of the rotating body 110, but may be disposed on the inner side in the facing direction of the rotating body 110.

  The conveyance unit 112 is formed of, for example, a belt, is stretched endlessly by a plurality of rotating bodies 110, and moves in the direction of arrow Y as the rotating body 110 rotates. As shown in FIG. 1 (a), a plurality (two in the present embodiment) of the conveying units 112 are arranged to face each other in parallel with the conveying direction.

  The protrusions 114 are made of, for example, resin, and a plurality of protrusions 114 are arranged on the surface of the conveyance unit 112 to support and support the workpiece. The transport unit 112 moves in the direction of the arrow Y, so that the workpiece contacted and supported by the protrusion 114 is transported in the direction of the arrow X.

  The floating part 116 is configured by, for example, an ejection device that ejects compressed air, and a plurality of (in this embodiment) the base 102 between the plurality of transport units 112 arranged in parallel with the transport direction in the direction opposite to the transport unit 112. 3 in the form) and a plurality (six in the present embodiment) are also placed in the transport direction. The floating portion 116 causes a gas flow upward in the vertical direction, and part of the work is levitated.

  Specifically, when the floating portion 116 ejects gas (compressed air) in a state in which the workpiece is in contact with and supported by the protrusion 114 to generate a gas flow vertically upward, the gap between the floating portion 116 and the workpiece is set. Air pressure increases. During the conveyance, the workpiece is supported by a vertically upward force due to the pressure of the air and a reaction force from the projection 114 against the weight of the workpiece.

  At this time, the floating part 116 is not the dynamic pressure in the jet direction of the compressed air as the pressure of the air that supports the work, but is generated as a result of the movement of the air being dispersed in all directions in a narrow space below the work. Since static pressure is used, the work can be supported with less power.

  FIG. 2 is an explanatory diagram for explaining the shape of the workpiece W being conveyed. As shown in FIG. 2 (b), even in the transfer device 1 using the belt conveyor with pins 2, if the workpiece W becomes thin and its rigidity is too low, the workpiece is positioned between the protrusions 3. The workpiece downstream end Wa, which is the downstream end in the conveyance direction of W, hangs down and curves downward vertically. Therefore, as shown in FIG. 2A, the floating portion 116 according to the present embodiment generates a pressure below the work W that is lower than the pressure at which the work W is kept horizontal. Thus, the workpiece W has a central portion Wb along the conveyance direction (indicated by an arrow X in FIG. 2), for example, with respect to the width (length perpendicular to the conveyance direction) 300 mm of the workpiece W in the thickness direction ( In the vertical downward direction, about 1 mm to 2 mm, the number of dents is extremely small as compared to the case of a flat body. The conveying apparatus 100 can increase the rigidity of the workpiece W by denting the central portion Wb of the workpiece W vertically downward rather than horizontally. For this reason, it is possible to reduce the number of the protrusions 3 (increase the interval) or to increase the interval between the two conveying devices 100 arranged in series.

  However, even if the central portion Wb of the workpiece W is recessed vertically downward to increase the rigidity in this way, the shape of the workpiece W or the workpiece W and the protruding portion 114 (in the case of the configuration without the protruding portion 114, the transport unit 112). Depending on the friction coefficient, etc.), it may be difficult to carry out stable conveyance with a conventional conveyance device.

  FIG. 3 is an explanatory diagram for explaining the bending of the workpiece W during conveyance. In FIG. 3, in order to facilitate understanding of the shape of the workpiece W, the conveyance device is omitted, and only a perspective view of the workpiece W being conveyed is shown. As described above, in the present embodiment, as shown in FIG. 3A, the rigidity of the workpiece W is increased by denting the central portion Wb of the workpiece W being conveyed vertically downward from the horizontal. .

  However, the contact between the workpiece W and the protrusion 114 is interrupted at the continuous portion between the transfer devices 100. Then, as shown in FIG. 3 (b), the center portion Wb of the workpiece W on the downstream side sinks vertically lower than intended due to the dead weight of the portion of the workpiece W where the protruding portion 114 is not in contact. At this time, the work W has its own weight acting on the protrusion 114 increased toward the downstream side, and the contact portion with the protrusion 114 will slide.

  Therefore, in the vicinity of the downstream end floating portions 116a and 116b shown in FIG. 1A among the floating portions 116, a stronger levitation force than the outside of the opposed intervals is exerted on the center side of the opposed intervals of the adjacent conveying units 112. On the workpiece W.

  Here, the downstream end floating portions 116 a and 116 b are the floating portions 116 disposed at the downstream end in the conveying direction, and the downstream end floating portions 116 a are disposed on the central side of the facing interval between the adjacent conveying portions 112. The downstream end floating portion 116b is disposed outside the facing interval.

  Specifically, with respect to the downstream end floating portions 116a and 116b, the downstream end floating portion 116a intensifies the flow of gas ejected vertically upward from the downstream end floating portion 116b.

  As described above, the transport apparatus 100 can apply a stronger levitation force to the workpiece W on the center side than on the outside by adjusting the gas jetting power of the downstream end floating portions 116a and 116b.

  Therefore, the conveyance device 100 suppresses the curvature of the central portion Wb to an appropriate range as shown in FIG. 3A by supporting the central portion Wb of the workpiece W downward with the levitation force. It is possible to avoid a collision with the transport device 100 on the side.

  FIG. 4 is an explanatory diagram for explaining the inclination of the workpiece W during conveyance, and shows a side view of a position corresponding to FIG. FIG. 4A is an example in the case of the transport apparatus 100 of the present embodiment, and FIG. 4B is a comparative example in the case of the conventional transport apparatus 10. Note that the workpiece W in FIGS. 4A and 4B shows the posture at the intermediate position in the width direction, and since there is almost no deformation in the direction along the transport direction, it is handled like a pseudo rigid body. be able to.

  When the workpiece downstream end Wa of the workpiece W protrudes from the transfer portion in the transfer between the transfer devices, the protruding portion is not subjected to the floating force from the floating portion. Therefore, in the case of the conveying apparatus 10, the balance of the floating force acting on the workpiece W is lost, and the workpiece W has a clockwise direction in FIG. 4B (indicated by an arrow Z in FIG. 4B). Moment will act. As a result, the workpiece upstream end Wc of the workpiece W rises vertically upward, and the workpiece downstream end Wa of the workpiece W falls vertically downward. Here, the workpiece upstream end Wc is an upstream end portion in the conveyance direction of the workpiece W.

  Therefore, in the present embodiment, as shown in FIG. 4A, among the plurality of floating portions 116, a predetermined set distance from the downstream end floating portions 116 a and 116 b (in this embodiment, the floating portions). As a result, the levitation force weaker than that of the surroundings is applied to the upstream floating portion 116 (hereinafter referred to as the upstream floating portion 116c).

  In this way, with the configuration in which the floating force is weakened in the upstream floating portion 116c, the transfer device 100 balances the moment due to the floating force acting on the workpiece W, suppresses the generation of unnecessary rotational force, and suppresses the generation of the workpiece W. The position in the vertical direction of the workpiece downstream end Wa can be maintained at a height at which a collision with the downstream transfer device 100 can be avoided.

(First modification)
In the embodiment described above, of the downstream end floating portions 116a and 116b, the central downstream end floating portion 116a is stronger than the outer downstream end floating portion 116b in the direction of the gas jetted vertically upward. Explained. However, by devising the arrangement of the downstream end floating portions 116a and 116b, the gas jet power of the downstream end floating portions 116a and 116b can be made uniform. In addition, about the structure which is substantially the same function as embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 5 is an explanatory diagram for explaining the downstream end floating portions 116a and 116b of the first modified example, and shows a front view of a position corresponding to FIG. 1 (b).

  As shown in FIG. 5, the downstream end floating portions 116 a and 116 b of the first modified example have a position of the ejection surface P that causes a gas flow in the downstream end floating portion 116 a than in the downstream end floating portion 116 b. Arranged vertically above.

  In this way, by adjusting the vertical height of the downstream end floating portions 116a and 116b, the conveying device 100 has a configuration in which the above-described central side acts on the workpiece W with a stronger levitation force than the outside. This can be achieved by simple control that makes the gas jetting power of the downstream end floating portions 116a and 116b uniform.

(Second modification)
In the embodiment described above, of the downstream end floating portions 116a and 116b, the downstream end floating portion 116a on the center side always strengthens the flow of the gas ejected vertically upward than the downstream downstream end floating portion 116b. Explained. However, the gas jet power of the downstream end floating portion 116a can be temporarily increased. In addition, about the structure which is substantially the same function as embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 6 is an explanatory diagram for explaining a transport apparatus 200 according to a second modification. 6A shows a top view of a position corresponding to FIG. 1A, and FIG. 6B shows a block diagram for explaining the control of the transport apparatus 200. FIG.

  As shown in FIGS. 6A and 6B, the transport device 200 further includes a first detection unit 220 and a levitation control unit 222 in addition to the components constituting the transport device 100.

  The first detection unit 220 is disposed in the vicinity of the downstream end floating portions 116 a and 116 b among the plurality of floating portions 116, and detects that the workpiece downstream end Wa has reached a position vertically above the first detection unit 220.

  The levitation control unit 222 applies a levitation force stronger than the outside of the opposing interval to the center side of the opposing interval of the adjacent conveying units 112 for a set period specified based on detection of arrival of the workpiece downstream end Wa. The downstream end floating portions 116a and 116b are controlled.

  In the present embodiment, the start time of the set period is the time when the first detection unit 220 detects the arrival of the work downstream end Wa, or the time when a preset standby time has elapsed after the detection. The end point is a point at which the workpiece downstream end Wa is connected (contacted) to the transfer unit 112 of the transfer device 200 on the downstream side. In order to identify the end point, a configuration may be used in which a sensor or the like detects that the workpiece downstream end Wa is connected (contacted) to the transport unit 112 of the transport device 200 on the downstream side. The end point is the time when the operating time has elapsed.

  The standby time and the operation time are appropriately determined depending on the arrangement of the first detection unit 220, the conveyance speed, and the like, and the standby time is 0.5 seconds, the operation time is 1.0 seconds, and the like. The setting period in this case is from 0.5 seconds to 1.5 seconds after the first detection unit 220 detects the arrival of the work downstream end Wa.

  In this way, the transport apparatus 200 increases the gas jet output of the downstream end floating portion 116a only when the work downstream end Wa is unloaded from the transport unit 112. With this configuration, the transport device 200 can suppress energy consumption due to the ejection of the gas and can reduce the cost, as compared with the case where the gas ejection power of the downstream end floating portion 116a is constantly increased.

  Then, the conveyance method which conveys the workpiece | work W with the conveying apparatus 200 mentioned above is demonstrated.

(Conveying method)
FIG. 7 is a flowchart for explaining a conveyance method in the second modification. The process described in the flowchart is executed while the transfer apparatus 200 is continuously transferring a plurality of workpieces W.

  The levitation control unit 222 determines whether or not the first detection unit 220 has detected the arrival of the workpiece downstream end Wa (S250). When the first detection unit 220 detects the arrival of the work downstream end Wa (YES in S250), the levitation control unit 222 has passed the set period since the first detection unit 220 detected the arrival of the work downstream end Wa. It is determined whether or not (S252).

  When the set period has not elapsed (NO in S252), the workpiece downstream end Wa is located at a continuous portion between the conveying devices 200, and the levitation control unit 222 is located at the center of the facing interval between the adjacent conveying units 112. The downstream end floating portions 116a and 116b are controlled so that a stronger levitation force is exerted on the workpiece W than the outside of the facing interval (S254).

  In the time lapse determination step S252, if the set period has elapsed (YES in S252), the workpiece downstream end Wa has already been connected to the transport unit 112 of the downstream transport device 200, so the levitation control unit 222 is The downstream end floating portions 116a and 116b are controlled so that the flying force acting on the workpiece W is equal (S256).

  In the workpiece detection step S250, when the first detection unit 220 has not detected the arrival of the workpiece downstream end Wa (NO in S250), the workpiece downstream end Wa is still on the conveyance unit 112 of the upstream conveyance device 200. The levitation control unit 222 controls the downstream end levitation portions 116a and 116b so that the levitation force acting on the workpiece W is equalized (S256).

  Even with such a method for transporting the workpiece W, compared with the case where the gas jet power of the downstream end floating portion 116a is constantly increased, the energy consumption due to the jet of gas is suppressed, and the collision between the workpiece W and the downstream transport device 200 is prevented. It can be avoided.

(Third Modification)
In the above-described embodiment, the configuration has been described in which the upstream floating portion 116 is fixedly set as the upstream floating portion 116c by a predetermined distance from the downstream end floating portions 116a and 116b. However, the floating part 116 used as the upstream floating part 116c can be adaptively changed. In addition, about the structure which is substantially the same function as embodiment and the modification mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 8 is an explanatory diagram for explaining a transport apparatus 300 according to a third modification. FIG. 8A shows a side view of the position corresponding to FIG. 1C, and FIG. 8B shows a block diagram for explaining the control of the conveying apparatus 300. FIG.

  As shown in FIGS. 8A and 8B, in addition to the components constituting the transfer device 100, the transfer device 300 further includes a first detection unit 220, a plurality of second detection units 320, and a floating surface. And a control unit 322.

  A plurality of (three in the present embodiment) second detection units 320 are arranged at different positions in the conveyance direction on the upstream side in the conveyance direction from the first detection unit 220, and the workpiece upstream end Wc is the second detection unit. It is detected that a position above 320 is reached vertically.

  The levitation control unit 322 has a set period specified based on the detection of the first detection unit 220 and the levitation portion 116 near the workpiece upstream end Wc specified based on the detection of the second detection unit 320 more than the surroundings. A weak levitation force is applied. Here, the setting period in the third modification is the same as the setting period in the second modification described above. Further, the floating portion 116 in the vicinity of the workpiece upstream end Wc specified based on the detection by the second detection unit 320 becomes the upstream floating portion 116c.

  In the example of FIG. 8A, since the third floating portion 116 from the downstream side is close to the workpiece upstream end Wc, the floating force is weakened. Thus, the conveying apparatus 300 weakens the levitation force of the upstream floating portion 116c only during the set period.

  Thus, since the conveying apparatus 300 includes a plurality of second detection units 320, even when a plurality of workpieces W having different lengths in the conveying direction are continuously conveyed, the levitation force is weakened. The floating portion 116 (upstream floating portion 116c) can be automatically identified, and the load for setting the floating force for each workpiece W can be reduced.

  In addition, when the distance between the upstream conveyance device 300 and the other downstream conveyance device 300 is wide, or when the floating portion 116 is small and the gap in the conveyance direction of the floating portion 116 is narrow, during the connection between the conveyance devices 300, The workpiece upstream end Wc is transported across the vertical upper portions of the plurality of floating portions 116. In this case, the levitation control unit 322 sequentially sets the levitation portion 116 positioned vertically below the workpiece upstream end Wc as the upstream levitation portion 116d in accordance with the movement of the workpiece upstream end Wc due to the conveyance of the workpiece W. The levitation force of the side floating portion 116d is weakened. In this way, the transfer device 300 can further stabilize the moment balance due to the levitation force acting on the workpiece W.

  Then, the conveyance method which conveys the workpiece | work W with the conveying apparatus 300 mentioned above is demonstrated.

(Conveying method)
FIG. 9 is a flowchart for explaining a conveyance method in the third modification. The processing described in the flowchart is executed while the transfer device 300 is continuously transferring a plurality of workpieces W.

  The levitation control unit 322 determines whether or not the first detection unit 220 has detected the arrival of the work downstream end Wa (S350). When the first detection unit 220 detects the arrival of the work downstream end Wa (YES in S350), the levitation control unit 322 has passed the set period since the first detection unit 220 detected the arrival of the work downstream end Wa. It is determined whether or not (S352). When the set period has not elapsed (NO in S352), the workpiece downstream end Wa is located in a continuous portion between the conveying devices 300, and the levitation control unit 322 includes a plurality of second detection units 320. The most downstream second detection unit 320 that detects the arrival of the workpiece upstream end Wc is identified (S354), and the floating portion 116 (upstream floating portion 116c) in the vicinity of the identified second detection unit 320 is identified. A weak levitation force is applied to the surroundings (S356).

  In the time lapse determination step S352, when the set period has elapsed (YES in S352), the workpiece downstream end Wa has already been connected to the transport unit 112 of the transport device 300 on the downstream side. The flying portion 116 is controlled so that the flying force acting on the workpiece W is equal (S358).

  In the workpiece detection step S350, when the first detection unit 220 has not detected the arrival of the workpiece downstream end Wa (NO in S350), the workpiece downstream end Wa is still on the conveyance unit 112 of the upstream conveyance device 300. The levitation control unit 322 controls the levitation portion 116 so that the levitation force acting on the workpiece W is equal (S358).

  Even when a plurality of workpieces W having different lengths in the conveyance direction are continuously conveyed by such a method for conveying the workpiece W, the floating portion 116 (upstream floating portion 116c) that is a target for weakening the floating force is automatically set. It is possible to specify, and the load of setting the levitation force for each workpiece W can be reduced.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  For example, when the workpiece downstream end Wa transfers between the transfer devices 100, the levitation control unit controls the levitation force of the downstream end levitation portion 116a to be increased as in the second modification, and the third modification example. In this way, control may be performed so as to weaken the levitation force of the upstream floating portion 116c.

  In the embodiment and the modification described above, the arrival position of the workpiece downstream end Wa, which is the detection target of the first detection unit 220 or the second detection unit 320, is vertically above the first detection unit 220 or the second detection unit 320. It is said. However, the arrival position to be detected is not limited to this case, and is appropriately determined according to the arrangement of the first detection unit 220.

  Further, in the above-described first modification, the downstream end floating portion 116a is fixed so that the position of the ejection surface P that causes the gas flow is vertically higher than the downstream end floating portion 116b disposed outside the opposing interval. Explained the case of being distributed to. However, the configuration of the downstream end floating portion 116a is not limited to this, and the downstream end floating portion 116a may be provided so as to be movable in the vertical direction by a movable portion (not shown) provided in the transport device. In this case, except for the set period specified by the first detection unit 220 provided in the transport device, the downstream end floating portion 116a is arranged such that the positions of the downstream end floating portion 116b and the ejection surface P are equal, and the first detection unit During the setting period specified by 220, the position of the ejection surface P of the downstream end floating portion 116a is movable so as to be vertically upward (see the double arrow in FIG. 5). With this configuration, in the configuration in which the downstream end floating portion 116a is fixedly arranged so that the position of the ejection surface P is vertically upward, the workpiece W and the downstream end floating portion 116a collide with each other. Even when the flying height is low, this collision can be avoided.

  Further, the above-described transport method does not necessarily have to be processed in time series in the order described in the flowchart, and may include parallel or subroutine processing.

  The present invention can be used in a transport apparatus and a transport method for transporting a relatively thin plate glass or the like.

DESCRIPTION OF SYMBOLS 100, 200, 300 ... Conveying apparatus 110 ... Rotor 112 ... Conveying part 116 ... Flying part 116a, 116b ... Downstream end floating part 220 ... 1st detection part 222, 322 ... Flying control part 320 ... 2nd detection part W ... Workpiece | work Wa ... Workpiece downstream end Wc ... Workpiece upstream end

Claims (7)

Conveying the workpieces having flexible, and a plurality of conveying portions, which are paired direction disposed,
Between the plurality of transport unit, arranged plurality opposing Direction of conveyance of said plurality of causes a flow of gas vertically upward, and floating upper portion Ru is floated said workpiece,
With
Before Ki浮 top,
A pressure lower than the pressure at which the work is kept horizontal by the gas flow is generated, and the central portion of the work is recessed vertically below the horizontal,
A plurality of downstream end floating portion該浮a top disposed at the downstream end of the conveying direction of the plurality of floating portions, the central side of the opposing distance of the transport unit adjacent, of the counter interval A conveying device characterized in that a floating force stronger than that on the outside is applied to the workpiece.   The conveying device according to claim 1, wherein a levitation force weaker than that of the surroundings is applied to a levitation portion upstream of the downstream end levitation portion among the plurality of levitation portions. A first detection unit that detects that a workpiece downstream end that is a downstream end in the conveyance direction of the workpiece has reached;
A plurality of second sensors arranged at different positions in the transport direction upstream from the first detection unit to detect that the work upstream end, which is the upstream end of the work in the transport direction, has arrived. Two detectors;
The floating in the vicinity of the workpiece upstream end that is the upstream end in the conveyance direction of the workpiece, which is specified based on the detection of the second detector, the set period specified based on the detection of the first detector For the part, a levitation control unit that exerts a weaker levitation force than the surroundings,
The conveyance device according to claim 2, further comprising:   Among the plurality of floating portions, with respect to the plurality of downstream end floating portions, the downstream end floating portion arranged on the center side of the opposed interval between the adjacent conveying units is arranged outside the opposed interval. The conveying apparatus according to any one of claims 1 to 3, wherein a gas flow vertically upward from the floating portion at the downstream end is strengthened.   Among the plurality of floating portions, with respect to the plurality of downstream end floating portions, the downstream end floating portion arranged on the center side of the opposed interval between the adjacent conveying units is arranged outside the opposed interval. 5. The transport device according to claim 1, wherein a position where a gas flow is generated can be arranged vertically above the floating portion at the downstream end. A first detection unit that detects that a workpiece downstream end that is a downstream end in the conveyance direction of the workpiece has reached;
The floating part is controlled so that a stronger levitation force than the outside of the facing interval acts on the center side of the facing interval between the adjacent conveying units for a set period specified based on the detection of the first detecting unit. A levitation control unit,
The transport apparatus according to claim 1, further comprising: A plurality of rotating bodies, a plurality of conveying sections that are stretched endlessly by the plurality of rotating bodies and convey a flexible work, and are arranged opposite to each other in parallel with the conveying direction; and the plurality of conveying sections A plurality of conveyance units arranged in the opposite direction and the conveyance direction between the plurality of conveyance units, and using a conveyance device including a plurality of floating portions that cause a gas flow upward in the vertical direction and float the workpiece. A method,
Detecting that the workpiece downstream end that is the downstream end of the workpiece conveyance direction has arrived,
For a set period specified based on detection of arrival of the workpiece downstream end, a levitation force stronger than the outside of the opposed interval is applied to the workpiece on the center side of the opposed interval of the adjacent conveyance units. A characteristic transport method.

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