JP6691227B2 - Conveyor and transfer system - Google Patents

Description

  The present specification discloses a carrier device and a transfer system.

  Conventionally, as this type of transfer device, one provided with a conveyor belt spanned by a pair of pulleys, an engine for driving the pulleys, and an actuator for vertically moving the object receiving surface of the conveyor belt has been proposed. (For example, refer to Patent Document 1). In this transport device, by moving the object receiving surface up and down by the actuator, it is possible to unravel the lumps of the work group placed on the object receiving surface and separate them.

Japanese Patent Publication No. 2015-522494

  However, the above-described transport device cannot separately transport a plurality of works by one conveyor belt. For this reason, when a plurality of works are distinguished from each other and conveyed, the conveyance device must be provided with a plurality of conveyor belts, which increases the size of the device and increases the cost.

  The present disclosure mainly aims to provide a transporting device having a plurality of lanes with a simple configuration.

  The present disclosure adopts the following means in order to achieve the above-mentioned main object.

  The transfer device of the present disclosure includes a conveyor belt having a mounting part for mounting a work, a feeding device for feeding the conveyor belt, and a plurality of mounting parts extending in parallel with the mounting part of the conveyor belt in the belt feeding direction. The gist of the present invention is to include a partition and a actuator that moves the plurality of mounting portions up and down.

  The carrying device of the present invention includes a conveyor belt, a feeding device, a partition, and an actuator. The partition divides the placing portion of the conveyor belt into a plurality of placing portions extending in parallel in the belt feeding direction. The actuator moves the plurality of mounting portions up and down. The conveyor can have multiple lanes on one conveyor belt by using partitions. In addition, when a work group is placed and conveyed in a lump state on each of a plurality of lanes, the transfer device can drive the actuator while driving the work group for each lane to unravel the lump of the work group. .

  The transfer system according to the present disclosure includes a conveyor belt having a mounting portion for mounting a work, a feeding device for feeding the conveyor belt, and a plurality of mounting portions extending in parallel with the mounting portion of the conveyor belt in the belt feeding direction. A conveying device having a partition and an actuator for moving the plurality of mounting parts up and down, a supply device for supplying a work to the upstream side of each of the plurality of mounting parts in the belt feeding direction, and the plurality of And a collecting device for collecting the work from the downstream side of each of the mounting portions in the belt feeding direction.

  Since the transfer system of the present disclosure includes the above-described transfer device of the present disclosure, it is possible to achieve the same effects as the effects of the transfer device. For example, the transfer system can achieve the effects of having a plurality of lanes with one conveyor belt, the effects of being able to unravel the lumps of the work group by driving the actuator while transporting the work group for each lane. Moreover, since the transfer system includes the supply device and the sampling device, the transfer of the work can be automated.

It is a block diagram which shows the outline of a structure of the transfer system. It is a block diagram which shows the outline of a structure of the workpiece conveyance apparatus 20. It is a partial external view which looked at the downstream side of the conveyor belt 22 from the back side. It is sectional drawing which shows the AA cross section of the workpiece conveyance apparatus 20 of FIG. 6 is an explanatory diagram showing an electrical connection relationship of the control device 70. FIG. It is a flow chart which shows an example of a work supply control routine. It is a flow chart which shows an example of a work transportation control routine. It is a flow chart which shows an example of a work sampling placement control routine. It is explanatory drawing which shows a mode that the workpiece | work W is conveyed. It is explanatory drawing which shows a mode that the lump of the workpiece | work W is loosened by the vertical movement of the upper surface part 22a. It is a flow chart which shows an example of a work disposal control routine. It is explanatory drawing which shows a mode that the workpiece | work W is discarded. It is a flow chart which shows an example of a work recovery control routine. It is explanatory drawing which shows a mode that the work W is collect | recovered.

  Next, modes for carrying out the invention of the present disclosure will be described with reference to the drawings.

  FIG. 1 is a configuration diagram showing an outline of the configuration of the transfer system 10. FIG. 2 is a configuration diagram showing an outline of the configuration of the work transfer device 20. FIG. 3 is a partial external view of the downstream side of the conveyor belt 22 as viewed from the back side. FIG. 4 is a cross-sectional view showing the AA cross section of the work transfer device 20 of FIG. FIG. 5 is an explanatory diagram showing an electrical connection relationship of the control device 70. 1 and 2, the front-rear direction is the X-axis direction, the left-right direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

  The transfer system 10 of the present embodiment is a system that transfers the work W contained in the supply box 12 to the mounting table T and aligns the work. As shown in FIG. 1, the transfer system 10 includes a mounting table transfer device 16, a work transfer device 20, a supply robot 40, and a sampling robot 50. These are installed on the workbench 11.

  In the present embodiment, the mounting table transfer device 16 has a pair of belt conveyors which are arranged in the front-rear direction (Y-axis direction) and are spaced from each other in the left-right direction (X-axis direction). The mounting table T is conveyed from left to right by a belt conveyor.

  The supply robot 40 is a robot for taking out the work W from the supply box 12 and supplying it to the supply area A1 (see FIG. 2) of the work transfer device 20. The supply robot 40 includes a vertical articulated robot arm 41 and an end effector 42. The robot arm 41 includes a plurality of links, a plurality of joints that rotatably or pivotally connect the links, a drive motor 44 (see FIG. 5) that drives each joint, and an encoder 45 (that detects an angle of each joint). (See FIG. 5). The plurality of links include a distal end link to which the end effector 42 is attached and a proximal end link fixed to the workbench 11. The end effector 42 is capable of holding and releasing the work. As the end effector 42, for example, a mechanical chuck, a suction nozzle, an electromagnet, or the like can be used.

  The sampling robot 50 is a robot for sampling the work in the sampling area A2 (see FIG. 2) of the work transfer device 20 and transferring and aligning the work on the mounting table T transferred by the mounting table transfer device 16. The sampling robot 50 includes a vertical articulated robot arm 51 and an end effector 52. The robot arm 51 includes a plurality of links, a plurality of joints that rotatably or pivotally connect the links, a drive motor 54 (see FIG. 5) that drives each joint, and an encoder 55 (that detects an angle of each joint. (See FIG. 5). The plurality of links include a distal end link to which the end effector 52 is attached and a proximal end link fixed to the workbench 11. The end effector 52 is capable of holding and releasing the work. As the end effector 52, for example, a mechanical chuck, a suction nozzle, an electromagnet or the like can be used. Further, at the tip end link of the robot arm 51, a camera 53 for picking up an image of the work W transported by the work transporting device 20 and the mounting table T transported by the mounting table transporting device 16 and grasping their position and state. Is also attached.

  As shown in FIGS. 1 and 2, the work transfer device 20 has a plurality of transfer lanes 21 that can transfer the works W from the supply area A1 to the collection area A2 in the front-rear direction (Y-axis direction). A plurality of supply boxes 12 for accommodating the works W supplied to the plurality of transfer lanes 21 are arranged behind the work transfer device 20. Further, in front of the work transfer device 20, a plurality of disposal boxes 14 for disposing of a defective work (defective work) when the work W conveyed in each of the plurality of transfer lanes 21 is disposed. ing.

  The work transfer device 20 includes a conveyor belt 22, a partition 25, a first shutter device 26, and a second shutter device 27.

  As shown in FIG. 2, the conveyor belt 22 is stretched over a driving roller 23a and a driven roller 23b. The work W is placed on the upper surface 22a (placement portion) of the conveyor belt 22, and the work W is belt-fed by rotationally driving (rotating in the forward direction) the drive roller 23a by the drive motor 38 (see FIG. 5). Transport in the direction. In this embodiment, the drive motor 38 is configured to be able to drive in both forward and reverse rotation directions. Side walls 24a and 24b are provided on both sides of the conveyor belt 22. The drive roller 23a and the driven roller 23b are rotatably supported by the side walls 24a and 24b.

  As shown in FIGS. 3 and 4, the upper surface 22a of the conveyor belt 22 has a back surface supported by a support plate 28. The support plate 28 prevents the conveyor belt 22 from bending due to the weight of the work W placed on the upper surface portion 22a. Further, the support plate 28 has openings 28a formed at positions corresponding to the collection areas A2 of the plurality of transport lanes 21, respectively. Below each of the openings 28a, a vertical movement device 30 for moving up and down the upper surface portion 22a from the back surface is arranged. The vertical movement device 30 is configured to include a contact body 31 and a cylinder 32 that vertically moves the contact body 31 so as to penetrate the opening 28a. The cylinder 32 is supported by a support base 29 fixed to the side walls 24a and 24b.

  The partition 25 is a partition plate that partitions one conveyor belt 22 (upper surface portion 22a) into a plurality of transportation lanes 21. The partitions 25 extend in parallel to the side walls 24a, 24b arranged on both sides of the conveyor belt 22 and are arranged at equal intervals so that all the lane widths of the transport lanes 21 are the same.

  The first shutter device 26 is provided at the upstream end (rear end) of the conveyor belt 22 in the belt feeding direction. The first shutter device 26 is configured to be able to open and close independently for each transport lane 21 by driving an actuator such as a cylinder or a motor. The first shutter device 26 is normally closed, and is opened when the work W on the conveyor belt 22 (upper surface portion 22a) is collected in the supply box 12.

  The second shutter device 27 is provided at the downstream end (front end) of the conveyor belt 22 in the belt feeding direction. The second shutter device 27 is configured such that it can be opened and closed independently for each transport lane 21 by driving an actuator such as a cylinder or a motor. The second shutter device 27 is normally closed, and is opened when the workpiece W on the conveyor belt 22 (upper surface portion 22a) is discarded in the discard box 14.

  The control device 70 is configured as a microprocessor centered on a CPU 71, and includes a ROM 72, an HDD 73, a RAM 74, etc. in addition to the CPU 71. Various signals from the encoder 45 of the supply robot 40, the encoder 55 of the sampling robot 50, the camera 53, the input device 80, and the like are input to the control device 70. From the control device 70, the drive motor 38 of the work transfer device 20, the actuator of the first shutter device 26, the actuator of the second shutter device 27, the cylinder 32 of the vertical movement device 30, the drive motor 44 of the supply robot 40, and the sampling robot 50. Various control signals are output to the drive motor 54, the camera 53, the mounting table transfer device 16, and the like.

  The transfer system 10 thus configured basically operates according to the following flowcharts (work supply control routine, work transfer control routine, work sampling and placement control routine). FIG. 6 is a flowchart showing an example of the work supply control routine executed by the control device 70. FIG. 7 is a flowchart showing an example of the work transfer control routine executed by the control device 70. FIG. 8 is a flowchart showing an example of a work sampling and placing control routine executed by the control device 70.

  In the work supply control routine, the CPU 71 of the control device 70 first acquires the supply order of the works W (S100). Here, the supply order of the works W is the same as the collection order of the works W described later. In the present embodiment, the CPU 71 acquires the collection order designated by the operator by operating the input device 80 as the supply order. Next, the CPU 71 sets a transportation lane (supply target lane) to which the work W is to be supplied among the plurality of transportation lanes 21 according to the acquired supply order (S110). Subsequently, the CPU 71 drives and controls the drive motor 44 of the supply robot 40 so as to extract the work W from the supply box 12 corresponding to the set supply target lane (S120). Then, the CPU 71 drives and controls the drive motor 44 of the supply robot 40 so that the collected work W is supplied to the supply area A1 of the supply target lane (S130), and returns to S110. In this way, the CPU 71 operates the supply robot 40 to supply the work W to the supply area A1 of the supply target lane while sequentially switching the supply target lanes according to the supply order.

  In the work transfer control routine, the CPU 71 of the control device 70 first determines whether the work W has been supplied to the supply area A1 of any of the transfer lanes 21 by the supply robot 40 (S200). When the CPU 71 determines that the work W is not supplied to the supply area A1, the CPU 71 skips S210 and S220 and proceeds to S230. On the other hand, when the CPU 71 determines that the work W has been supplied to the supply area A1, the CPU 71 determines whether or not the collecting robot 50 is performing a collecting operation for collecting the work W (S210). When the CPU 71 determines that the collecting robot 50 is performing the collecting operation, the CPU 71 skips S220 and proceeds to S230. On the other hand, when the CPU 71 determines that the sampling robot 50 is not performing the sampling operation, the conveyor belt 22 moves in the forward direction by a predetermined amount (for example, ⅕ to ⅕ of the distance from the supply area A1 to the sampling area A2). The drive motor 38 is drive-controlled in the forward rotation direction (forward direction) so as to be fed by a feed amount of about 1/10 (S220). Since the CPU 71 closes the first shutter device 26 and the second shutter device 27 while the work W is being carried, the work W does not drop during the carrying. Next, the CPU 71 determines whether or not the work W has reached the collection area A2 of any one of the transportation lanes 21 (S230). The process of S230 is performed by determining whether or not the feed amount of the conveyor belt 22 after the work W is supplied to the supply area A1 of the transport lane 21 has reached the distance from the supply area A1 to the sampling area A2. be able to. When the CPU 71 determines that the work W has not reached the collection area A2, the CPU 71 returns to S200. On the other hand, when the CPU 71 determines that the work W has reached the collection area A2, the CPU 71 drives and controls the corresponding vertical movement device 30 (cylinder 32) so that the upper surface portion 22a of the collection area A2 moves up and down (S240), Return to S200. In the work transfer control routine, the CPU 71 drives only the vertical movement device 30 corresponding to the collection area A2 where the work W has reached, but all the vertical movement devices 30 may be driven.

  FIG. 9 is an explanatory diagram showing how the work W is transported. FIG. 10 is an explanatory diagram showing a state where the lump of the work W is unraveled by the vertical movement of the upper surface portion 22a. The plurality of works W are supplied in a lump state to the supply area A1 by the supply robot 40 in accordance with the specified supply order in the plurality of transport lanes 21. The work transfer device 20 feeds the conveyor belt 22 in the forward direction to advance the work W every time a lump of the work W is supplied to the supply area A1. Accordingly, the work transfer device 20 can efficiently transfer the plurality of lumps of the work W by using the single conveyor belt 22 for each transfer lane 21. Then, when the lump of the work W reaches the collection area A2 of any one of the transportation lanes 21, the work transfer device 20 drives the vertical movement device 30 corresponding to the collection area A2 to thereby cause the upper surface portion of the collection area A2. 22a is knocked up to loosen the lump of the work W (see FIG. 10). As a result, the work transfer device 20 can make the work robot W easily collect the work W in the collection area A2.

  In the work sampling placement control routine, the CPU 71 of the control device 70 acquires the sampling order (S300). The collection order may be the same as the supply order acquired in S100 of the work supply control routine. Next, the CPU 71 sets a transport lane (collection target lane) that is a target for collecting the work W among the plurality of transport lanes 21 according to the acquired collection order (S310). Subsequently, the CPU 71 images the collection area A2 of the set collection target lane with the camera 53 (S320), processes the obtained captured image, and determines that the work W in the collection area A2 is a non-defective product (non-defective work). A defective product (defective work) is selected (S330). Then, the CPU 71 determines whether or not there is a non-defective work in the collection area A2 of the collection target lane (S340). When the CPU 71 determines that there is a non-defective work, the CPU 71 determines whether the transfer destination exists, that is, whether the mounting table T for mounting the non-defective work is transferred by the mounting table transfer device 16 (S350). ). When the CPU 71 determines that the transfer destination does not exist, it waits until the mounting table T is transported. On the other hand, when determining that the transfer destination exists, the CPU 71 drives and controls the drive motor 54 of the collection robot 50 so that the non-defective work in the collection target lane is collected (S360). Then, the CPU 71 drives and controls the drive motor 54 of the sampling robot 50 so that the collected non-defective workpieces are transferred to the mounting table T and are aligned and mounted on the mounting table T (S370), and then to S340. Return. When the CPU 71 determines in S340 that there is no non-defective work in the collection area A2, it determines whether or not there is a defective work in the collection area A2 (S380). When the CPU 71 determines that there is no defective work in the collection area A2, the CPU 71 returns to S310. On the other hand, when the CPU 71 determines that the defective work exists in the collection area A2, the CPU 71 waits until the defective work is discarded by the later-described work discard control routine (S390), and returns to S310. The work W that arrives at the supply area A1 by the supply robot 40 earlier reaches the collection area A2 earlier. Therefore, the collection robot 50 can efficiently transfer the plurality of works W to the mounting table T by collecting the works W in the same order as the supply order.

  FIG. 11 is a flowchart showing an example of a work discard control routine executed by the control device 70. In the work discard control routine, the CPU 71 of the control device 70 first determines whether there is a defective work and a non-defective work in any of the collection areas A2 of the plurality of transport lanes 21 (S400, S410). When the CPU 71 determines that no defective work exists in the collection area A2 or determines that there is a non-defective work in the collection area A2, the CPU 71 ends the work discard control routine. On the other hand, when the CPU 71 determines that there is a defective work and no non-defective work in the collection area A2, the CPU 71 opens the second shutter device 27 of the corresponding transportation lane 21 (S420). The CPU 71 keeps the second shutter device 27 of the other transportation lane 21 closed. Then, the CPU 71 drives and controls the drive motor 38 so that the conveyor belt 22 is fed in the forward direction until the defective work in the collection area A2 moves to the discard box 14 (S430), and ends the work discard control routine.

  FIG. 12 is an explanatory diagram showing how the work W is discarded. When the work W is discarded, the work transfer device 20 opens the second shutter device 26 of the transfer lane 21 (corresponding lane) in which there are defective works and non-defective works in the collection area A2, as illustrated. (Indicated by a broken line in the figure), the drive motor 38 is rotated forward to feed the conveyor belt 22 in the forward direction. As a result, the defective work on the corresponding lane is conveyed in the forward direction and drops into the corresponding waste box 14. The second shutter device 26 remains closed in other lanes than the corresponding lane. Therefore, the works W on the other lanes are prevented from falling into the waste box 14 by the second shutter device 26.

  FIG. 13 is a flowchart showing an example of a work recovery control routine executed by the control device 70. In the work recovery control routine, the CPU 71 of the control device 70 first determines whether setup change for changing the type of the work W to be worked is requested (S500). When the CPU 71 determines that the setup change is not required, the CPU 71 ends the work recovery control routine. On the other hand, when the CPU 71 determines that setup change is requested, the CPU 71 opens the first shutter devices 26 of all the transportation lanes 21 (S510). Then, the CPU 71 controls the drive motor 38 in the reverse direction so that the conveyor belt 22 is fed in the reverse direction until the work W remaining in the collection area A2 moves to the supply box 12 (S520), and the work. The recovery control routine ends.

  FIG. 14 is an explanatory diagram showing how the work W is collected. When collecting the work W, the work transfer device 20 opens all the first shutter devices 26 (indicated by broken lines in the drawing) and reversely rotates the drive motor 38 to move the conveyor belt 22 as illustrated. Send in the opposite direction. As a result, the works W on each of the transport lanes 21 are transported in the opposite directions and fall into the corresponding supply boxes 12.

  Here, the correspondence relationship between the main elements of the embodiment and the main elements of the invention described in the section of the disclosure of the invention will be described. That is, the work transfer device 20 corresponds to a transfer device, the conveyor belt 22 corresponds to a conveyor belt, the drive roller 23a, the driven roller 23b, and the drive motor 38 correspond to a feeding device, and the partition 25 corresponds to a partition. The vertical movement device 30 (cylinder 32) corresponds to an actuator. The support plate 28 corresponds to a support plate, and the contact body 31 of the vertical movement device 30 corresponds to a hit-up portion. The first shutter device 26 corresponds to the first shutter device. The second shutter device 27 corresponds to the second shutter device. The transfer system 10 corresponds to a transfer system, the supply robot 40 corresponds to a supply device, and the sampling robot 50 corresponds to a sampling device.

  According to the present embodiment described above, the work transfer device 20 includes the partition 25 that partitions the conveyor belt 22 into the plurality of transfer lanes 21, so that one conveyor belt 22 distinguishes and transfers a plurality of types of works W. You can In addition, since the work transfer device 20 includes the vertical movement device 30 that moves the conveyor belt 22 (the upper surface portion 22a) on which the work W is placed up and down, the work W is unraveled by the transfer lanes 21. Thus, the conveyed work W can be easily collected.

  Further, according to the present embodiment, since the work transfer device 20 includes the vertical movement device 30 for each transfer lane 21, it is possible to effectively loosen the lumps of the work W transferred for each transfer lane 21. Further, since the vertical movement device 30 is arranged so as to be vertically movable in the collection area A2 on the downstream side of the transportation lane 21, it is possible to more surely loosen the lump of the work W transported to the collection area A2.

  Further, according to the present embodiment, the work transfer device 20 includes the first shutter device 26 that can be opened and closed at the upstream end of the conveyor belt 22 in the belt feeding direction. Accordingly, the work transfer device 20 can prevent the work W from dropping from the conveyor belt 22 when the work W is supplied to the supply area A1 by closing the first shutter device 26. Further, the work transfer device 20 can collect the work W on the conveyor belt 22 by opening the first shutter device 26 and feeding the conveyor belt 22 in the reverse direction.

  Further, according to the present embodiment, the work transfer device 20 includes the second shutter device 27 that can be opened and closed at the downstream end of the conveyor belt 22 in the belt feeding direction. Accordingly, the work transfer device 20 can prevent the work W from dropping from the conveyor belt 22 when the work W is transferred to the collection area A2 by closing the second shutter device 27. Further, the work transfer device 20 can discard the defective work on the conveyor belt 22 by opening the second shutter device 27 and feeding the conveyor belt 22 in the forward direction.

  Further, according to the present embodiment, the transfer system 10 supplies the work W to the supply area A1 of the work transfer device 20 by the supply robot 40 and collects the work W transferred to the collection area A2 by the work transfer device 20. Collect by 50. As a result, the transfer system 10 can automate the supply, transfer, and collection of the work W.

  Further, according to the present embodiment, in the transfer system 10, the supply robot 40 supplies the work W to the supply area A1 of the transfer lane 21 in the specified supply order among the plurality of transfer lanes 21. The work transfer device 20 feeds the conveyor belt 22 every time the work W is supplied and advances the work W. The collection robot 50 collects the work W from the collection area A2 of the transport lane 21 according to the same collection order as the supply order. As a result, the transfer system 10 can transfer the work W efficiently.

  It is needless to say that the present invention is not limited to the above-described embodiments and can be implemented in various modes within the technical scope of the invention of the present disclosure.

  For example, in the above-described embodiment, the work transfer device 20 feeds the conveyor belt 22 in the forward direction and advances the work W every time the supply robot 40 supplies the work W. However, the work transfer device 20 may feed the conveyor belt 22 regardless of whether the work W is supplied, unless the collection robot 50 is performing the collection operation.

  Further, in the above-described embodiment, the work transfer device 20 is provided with the vertical movement device 30 for each transfer lane 21, but the single vertical movement device 30 collectively raises and lowers the upper surface portions 22a of the plurality of transfer lanes 21. It may be moved. In this case, the work transfer device 20 may include a support plate having an opening formed so as to straddle the plurality of transfer lanes 21.

  Further, in the above-described embodiment, the work transfer device 20 includes the support plate 28 that supports the upper surface portion 22a of the conveyor belt 22 from the back side, but the support plate 28 may not be provided.

  Further, in the above-described embodiment, the work transfer device 20 is provided with the vertical movement device 30 so as to vertically move the sampling area A2 of the conveyor belt 22 (upper surface portion 22a), but the supply area A1 and other areas are provided. The vertical movement device 30 may be arranged to move up and down.

  Further, in the above-described embodiment, the work transfer device 20 includes the first shutter device 26 that can be opened and closed at the upstream end (rear end) of the conveyor belt 22 in the belt feeding direction, but instead of the first shutter device 26. A rear wall that cannot be opened and closed may be provided. In this case, the work transfer device 20 cannot collect the work W in the supply box 12, but it is possible to prevent the work W from falling. The work transfer device 20 may not include the first shutter device 26 or the rear wall. Further, the work transfer device 20 recovers the work W by opening the first shutter device 26 and feeding the conveyor belt 22 in the reverse direction, but may discard the defective work.

  Further, in the above-described embodiment, the work transfer device 20 includes the second shutter device 27 that can be opened and closed at the downstream end (front end) of the conveyor belt 22 in the belt feeding direction, but instead of the second shutter device 27. It may have a front wall that cannot be opened and closed. In this case, the work transfer device 20 cannot discard the work W in the discard box 14, but it is possible to prevent the work W from falling. The work transfer device 20 may not include the second shutter device 27 or the front wall. Further, the work transfer device 20 discards the work W by opening the second shutter device 27 and feeding the conveyor belt 22 in the forward direction, but may recover the work W.

  Further, in the above-described embodiment, the transfer system 10 executes the control of the work transfer device 20, the control of the supply robot 40, and the control of the sampling robot 50 by the same control device 70, but each control is different. It may be executed by the control device.

  As described above, the transfer device of the present disclosure has a conveyor belt having a mounting portion for mounting a work, a feeding device for feeding the conveyor belt, and a mounting portion for the conveyor belt in parallel in the belt feeding direction. The gist of the present invention is to include a partition for partitioning into a plurality of extending mounting portions and an actuator that moves the plurality of mounting portions up and down.

  In the transfer device according to the present disclosure, the feeding device may feed the conveyor belt by a predetermined amount and step the work when the work is supplied to any of the plurality of mounting portions. In this way, the transfer device can efficiently transfer the work for each lane.

  Further, in the transporting device of the present disclosure, the actuator may vertically move a downstream side of the placing unit in the belt feeding direction. With this configuration, the transport device can loosen the lump of the work group on the downstream side in the belt feeding direction.

  Further, in the transport device of the present disclosure, the actuator may be provided for each of the plurality of mounting parts. With this configuration, the transport device can more surely unravel the lump of the work group placed on each of the plurality of placement sections.

  Further, in the transfer device of the present disclosure, a support plate having an opening and supporting the plurality of mounting portions from the back side, and the plurality of mounting portions via the opening along with the driving of the actuator. It may be provided with a hit-up portion that hits up from the back surface. With this configuration, the transfer device can efficiently loosen the lump of the work group placed on the placement section by driving the actuator while suppressing the bending of the conveyor belt on which the work is placed.

  Further, the transport device of the present disclosure may include a first shutter device that is provided at the upstream end of each of the plurality of mounting portions in the belt feeding direction and that can be opened and closed. With this configuration, the transport device can prevent the work placed on the placement unit from dropping by closing the first shutter device. In addition, the transport device feeds the conveyor belt in the reverse direction with the first shutter device opened, so that, for example, the work remaining on the placement part at the end of the work is collected, or the work is placed on the placement part. The defective work that has been done can be discarded.

  Further, the transport device of the present disclosure may include a second shutter device that is provided at the downstream end of each of the plurality of mounting portions in the belt feeding direction and that can be opened and closed. With this configuration, the transport device can prevent the work transported to the downstream side in the belt feeding direction in the mounting unit from falling by closing the second shutter device. In addition, the transport device feeds the conveyor belt in the forward direction with the second shutter device opened, so that, for example, when the work is completed, the work remaining on the placement part is collected or placed on the placement part. The defective work that has been done can be discarded.

  The transfer system according to the present disclosure includes a conveyor belt having a mounting portion for mounting a work, a feeding device for feeding the conveyor belt, and a plurality of mounting portions extending in parallel with the mounting portion of the conveyor belt in the belt feeding direction. A conveying device having a partition and an actuator for moving the plurality of mounting parts up and down, a supply device for supplying a work to the upstream side of each of the plurality of mounting parts in the belt feeding direction, and the plurality of And a collecting device for collecting the work from the downstream side of each of the mounting portions in the belt feeding direction.

  In the transfer system of the present disclosure, the supply device supplies a work to each of the plurality of mounting parts in a predetermined supply order, and the transfer device supplies the work to any of the plurality of mounting parts. The conveyor belt may be fed by a predetermined amount each time the workpiece is stepped, and the sampling device may sample the workpiece from each of the plurality of mounting portions in the same order as the supply order. With this configuration, the transfer system can efficiently transfer the work.

  INDUSTRIAL APPLICABILITY The present disclosure can be used in the manufacturing industry of transport apparatuses and transfer systems.

  10 transfer system, 11 workbench, 12 supply box, 14 waste box, 16 mounting table transfer device, 20 work transfer device, 21 transfer lane, 22 conveyor belt, 22a upper surface part, 23a drive roller, 23b driven roller, 24a, 24b Side wall, 25 partition, 26 1st shutter device, 27 2nd shutter device, 28 support plate, 28a opening part, 29 support stand, 30 up-and-down movement device, 31 contact body, 32 cylinder, 38 drive motor, 40 supply robot, 41 robot arm, 42 end effector, 44 drive motor, 45 encoder, 50 sampling robot, 51 robot arm, 52 end effector, 53 camera, 54 drive motor, 55 encoder, 70 control device, 71 CPU, 72 ROM, 73 HAD, 4 RAM, 80 input device, T table, W workpiece.

Claims (8)

A conveyor belt having a mounting portion for mounting a work,
A feeding device for feeding the conveyor belt,
A partition for partitioning the placing portion of the conveyor belt into a plurality of placing portions extending in parallel in the belt feeding direction,
An actuator that is provided for each of the plurality of mounting portions and moves the plurality of mounting portions up and down,
A transport device including. The transport device according to claim 1, wherein
The feeding device feeds a predetermined amount of the conveyor belt every time a work is supplied to any one of the plurality of mounting parts to step the work.
Transport device. The transport device according to claim 1 or 2, wherein
The actuator vertically moves the downstream side of the mounting portion in the belt feeding direction,
Transport device. The transport apparatus according to any one of claims 1 to 3 ,
A support plate having an opening and supporting the plurality of mounting portions from the back side;
A hitting-up part that hits up the plurality of mounting parts from the back surface through the opening in association with the driving of the actuator,
A transport device including. The transport apparatus according to any one of claims 1 to 4 ,
A transporting device comprising: a first shutter device provided at an upstream end of each of the plurality of mounting portions in a belt feeding direction and capable of opening and closing. The transport apparatus according to any one of claims 1 to 5 ,
A transport device comprising: a second shutter device provided at the downstream end of each of the plurality of mounting portions in the belt feeding direction and capable of opening and closing. A conveyor belt having a mounting portion for mounting a work, a feeding device for feeding the conveyor belt, a partition for partitioning the mounting portion of the conveyor belt into a plurality of mounting portions extending in parallel in the belt feeding direction, and the plurality of An actuator that is provided for each of the mounting parts and that moves the plurality of mounting parts up and down,
A supply device for supplying a work to the upstream side of each of the plurality of mounting portions in the belt feeding direction,
A sampling device for sampling the work from the downstream side of each of the plurality of mounting portions in the belt feeding direction,
A transfer system comprising. The transfer system according to claim 7 , wherein
The supply device supplies a work in a predetermined supply order to each of the plurality of mounting portions,
The transfer device feeds a predetermined amount of the conveyor belt every time a work is supplied to any one of the plurality of mounting parts to step the work,
The sampling device samples the workpieces from each of the plurality of mounting parts in the same order as the supply order.
Transport system.