200800770 九、發明說明： 【發明所屬之技術領域】 本發明係有關於一種用於沿一輸送方向水平地輸送物 件之輸送裝置，其包括··支承機構，其用於在輸送該等物 件期間垂直地支承該等物件；及驅動機構，其可作用於該 等被支承之物件，以便引發該等物件之輸送運動◊ 【先前技術】 Φ 例如作爲產業製造作業中之一部分，物件之動力驅動水 平輸送，尤其是對具有大表面積之物件而言，通常係利用 驅動輥輸送機而予執行。大量之旋轉驅動輥形成一物件輸 送平面，並產生作爲垂直地支承該等物件之支承機構以及 用於引發該輸送運動之驅動機構兩者相同之功能。然而， 此輸送機構確實具有下列缺點：經輸送之物件可能因該等 輥與諸輥之磨耗所產生之碎屑而被玷污。這在某些運用中 是無法被容忍的。此尤其指在用於輸送電子工業用板狀基 • 材（諸如用於平面圖像螢幕之玻璃或塑膠）之情況中。複 雜之監控措施及可能需要之清理作業在此情況下均爲必要 的。 諸如帶式（band，belt，strap)輸送機之其他類型輸送裝 置，由於連續轉動之輸送機體，以致在許多用途上僅適於 一有限之範圍。 【發明内容】 本發明之目的在於創造一種輸送裝置，藉其使得甚至易 -5- 200800770 碎物件亦可被水平地輸送，而不會損及該等物件。 爲達此及其他目的，該輸送裝置之驅動機構被設計成與 該支承機構無關，且包括至少一吸取夾持器，其可藉由吸 力而使其本身可釋放地附著在該等物件上，且其在被吸附 狀態下可被驅動，以相對於該支承機構而沿著該驅動方向 進行一進給運動，藉以帶動該分別被吸取且因而被固定之 物件，從而產生該物件之輸送運動。 在此一方式中，該支承機構僅具有使該等待輸送之物件 處於對準狀態之功能_。爲產生運行所需之驅動力，該附加 之驅動機構將負責提供，而其並不對該等物件執行任何之 支承動作。例如，該支承機構可形成一簡單之非驅動輥輸 送機型式，或形成例如具有氣體軸承之支承軸承滑軌型 式，而因此該等支承機構擁有一相當簡單之結構。爲傳遞 驅動力，驅動機構將包括至少一吸取夾持器，其可與將分 別被輸送之物件吸附啣合，以便與其形成無滑動之驅動連 接。在被吸附狀態下所執行之該至少一吸取夾持器的進給 運動期間，該至少一吸取夾持器將帶動該經保持之物件， 且因此引發所要之輸送運動。 較佳地，該輸送裝置包括多個吸取夾持器，其能以交替 之方式或是成群地與該將分別待輸送之物件吸附啣合。由 於與複數個吸取夾持器同時吸附啣合，故得以安全且準確 地移動具有特別大表面積及/或大重量之物件。由於依序地 啓動複數個吸取夾持器，故如果需要的話將可提供該等物 件之連續輸送，該等待輸送之物件被從一個別之吸取夾持 -6- 200800770 器處轉移至下一個吸取夾持器，而該等吸取夾持器以一交 替之方式在作動狀態及閒置狀態之間輪流對換。 當該等吸取夾持器被從該等待輸送之物件處移除時，尤 其可相對於該進給方向交替地將該等吸取夾持器驅動成沿 相反方向之回返運動。被接著執行之升降輸送行程可與在 輸送方向上所量測之物件長度無關，此所要之進給運動可 結合一經界定且同步化之協作而產生。在此情形中，該等 物件（通常指工件）可依據所選定之控制而以一恆定之速 度按步驟地被移動，或以一可變之速度被移動。 本發明之該輸送裝置亦具有可非常容易地被切換至一 被動狀態之優點。爲達此目的，僅需要停止該等吸取夾持 器並較佳地將其自該等物件處移除，以便可使該等吸取夾 持器此刻只專門地與該支承機構相協作。 在多個物件被順序地輸送之情況中，由於該等吸取夾持 器被釋放，使得如果該等物件相距太遠時可輕易地將該 等物件移動成更靠近在一起，或是將該等物件移動分隔以 形成一間隙。 在該輸送裝置之一較佳實施例之情形中，用於引發該輸 送運動之該驅動機構可具有進給機構，其用於產生該等吸 取夾持器之該進給運動及一反向之回返運動。爲求將該等 吸取夾持器移向一將由吸力所固持之物件處以及釋放該物 件，將需設置另外之升降機構，藉此使得該等吸取夾持器 可被移動在一貫穿該物件之輸送方向的方向上。雖然一分 離之設計通常是令人滿意的，但是亦可將該升降機構設計 200800770 成一具有該驅動機構之單一總成。 在操作該輸送裝置期間，該進給機構及該升降機構可藉 由適當之控制機構而被控制成可執行所要之運動組。由於 該控制機構，將使得該等個別之吸取夾持器能以一與其運 動同一步調之方式同時地作動或解除作動。 一被認爲係特別有利之設計，係爲一包括多個分別具有 一或多個吸取夾持器之吸取單元者，且.可藉由其進給機構 隨著相變化而被驅動之該等吸取夾持器將執行交替之進給 ® 運動與反向之回返運動。因爲該等吸取夾持器同時在該進 給運動期間至少暫時吸附啣合在一物件上，及.在該回返運 動期間被再度地移除，故其可爲任何種類之相反移動操 作，而在其操作期間，該等升降單元以交替接續之方式被 帶動。 該等吸取單元之操作較佳地係以一種方式發生，該方式 可使至少一吸取單元執行一進給運動，其中該吸取單元係 處於該作動吸附啣合狀態，且被吸附在一待輸送之物件上 攀 並帶動該物件。 如果該輸送裝置包括兩藉由狀態偏置而操作之吸取單 元，則該控制將特別地發生，以便使一個別之吸取單元的 回返行程在所有情況下均位於該個別之其他吸取單元的先 前行程之時窗的中間。 如果該回返運動係在一較高於該進給運動之速度下被 執行，則此將爲另外之一優點。因此，一已完成該進給運 動之吸取夾持器可相當迅速地開始下一個進給運動。 -8- 200800770 如果一吸取單元包括複數個吸取夾持器，則該等吸取夾 持器較佳係被放置成一沿著該輸送方向延伸之列。 在每一個別之吸取單元內，其較佳地具有至少一較佳地 呈軌道狀或橫樑狀吸取夾持器載架，其上裝配有一或多個 吸取夾持器，且用於引發該等被配置於其上之吸取夾持器 的進給及回返運動之該進給機構可作用於該吸取夾持器載 架上。 該進給機構之個別進給驅動裝置可負責每一個吸取單 元。至於該進給驅動裝置，其將特別係一線性驅動裝置， 且尤其係爲一電氣或氣壓伺服線性驅動裝置。 爲求個別地相對於該等待輸送之物件，或相對於該輸送 平面，而貫穿該輸送方向移動該等吸取夾持器，每一吸取 單元較佳爲配置有適於產生升降運動之升降機構。如果需 要，該升降機構可作用在該吸取夾持器載架上，以便使所 有被配置在其上之吸取夾持器可總是被同時移動貫穿該輸 送方向。爲求儘可能地待移動之質量減至最小，一些配備 必須可導致較高之運作速度且對該輸送裝置產生較小之負 荷；然而，對每一吸取夾持器之升降機構而言具有其各自 之升降驅動裝置（例如一氣壓缸）係爲較方便的。此意謂 每一個別吸取單元之該吸取夾持器可彼此獨立地被移動於 貫穿該輸送方向之方向上。 該等吸取夾持器之吸取操作所需之真空較佳地係由一 隸屬於該輸送裝置之真空產生機構所提供。在此一情形 中，各吸取夾持器較佳地配備其自有之真空產生機構。此 -9- 200800770 依據噴射器原理操作之真空產生機構連同該吸取夾持器可 藉由該相關聯之升降驅動裝置的輸出驅動部而被支承。該 輸送裝置較佳地具有控制機構，其包括一電子型式之控制 機構，藉其使得能以一互相匹配之方式來控制各種不同之 運動順序。 同樣較佳地，該等吸取夾持器在其吸取功能上係由該控 制機構所操作，以便使作動吸取狀況僅在個別吸取夾持器 在其進給運動期間以相同於該物件之速度移動時才發生， ® 而物件由於另一吸取單元之作用而正進行一輸送運動。因 此，該進給運動可包含一初始加速狀態，其中該吸取夾持 器仍係閒置的，而在此期間該吸取夾持器從固定不動狀態 被加速至所要之進給速度。 在一有利之方式中，輸送裝置可爲具有模組之設計者。 輸送裝置於是包括多個輸送模組，其可沿著該輸送方向而 被放置成一列，且其各具有以狀態偏置而運轉之經驅動的 Φ 至少兩個吸取單元。在此一情況中，沿著該等個別輸送模 組之輸送方向所量測之長度較佳係等於該等個別吸取單元 加上由該等個別吸取單元行程所得之總長度。依此方式’ 位於諸依序後續之輸送模組間之該等物件的無障礙轉移係 可達成的，且該等輸送模組並不必在與彼此相關之相對狀 態方面被同步化。此僅是該等吸取單元在該等個別輸送模 組內之操作方式，其必需相對於彼此相互同步化。在後續 或先前之輸送模組中，亦即在任何被配置於其之後或之前 的輸送模組中，該等吸取單元間之狀態關係可完全不同。 -10- 200800770 順序後續之輸送模組間之匹配僅在與該被輸送物件之所要 運動方向及速度有關之方面是必需的。 【實施方式】 槪括以元件符號1代表並作爲一範例之該輸送裝置以 輸送不同形狀之物件，尤其用於輸送片狀物件2。至於在 本運作範例中之該等板片狀物件2，其所探討的係將在平 面圖像螢幕的生產過程中被加工之具有大表面積的玻璃或 φ 合成樹脂材料面板。在輸送該等物件2期間，其被分.開地 供應至若干製造單元，而該等單元並未被詳細說明且未包 含於圖中。 在輸送該等物件2期間所進行之運動待稱爲輸送運 動。該輸送運動直線地發生在以一箭頭表示之水平輸送方 向3上。 在其輸送期間，該等物件2移動在一水平地伸展之輸送 平面4上，其係由該輸送裝置1之固定式支承機構5所界 φ 定。該等物件2朝一向下方向平放在伸展於其下方之支承 件5上。 第1圖係一從該輸送裝置1下方所取之立體圖，其上安 裝著該輸送裝置之該基部並未被顯示，因而產生了該裝備 係懸吊在半空中之印象。 該輸送裝置1在第1圖中僅被部分地顯示’以便使該圖 式更爲簡單明瞭。該輸送裝置1較佳地係由多個沿著該輸 送方向3被放置成一列之個別輸送模組6所組成’該等模 組中之三個被展示於第1圖中，而某些僅顯示部分。該成 200800770 列之輸送模組6的數量原則上係不重要的。也可能僅設有 一個輸送模組6而已。 每一輸送裝置1均包括一更特定地呈骨架狀之模組基 部7，其在使用該輸送裝置1期間維持固定不動。此模組 基部7承受上述之支承機構5，其係更特定地由一或多個 沿著該輸送方向3延伸之輥輸送機5a所構成。該輥輸送機 5a並不被驅動，且包括複數個支承輥5b，其分別可在其位 置上繞一旋轉軸而自由轉動，而該旋轉軸係與該輸送平面 4成平行並與該輸送方向成垂直地延伸。 作爲一替代者，該支承機構5可形成其他機構型式，而 該等物件2可在無需施予驅動力下沿長度方向移動於該支 承機構5上。例如，呈平坦承載面型式之簡單且固定不動 的支承面可能會是一個問題。爲求改善承載功能，一氣墊 可被設置。 該支承機構5之另一運作範例係由若干支承球所構 成；而當用以界定該輸送平面4時，該等支承球被支撐成 使其得以一給定之分佈狀態繞著其本身自由轉動。該支承 機構5之另外可能的設計亦可被運用。 此外，每一輸送模組6包括驅動機構8，其在該輸送裝 置1運轉期間會使置放在該支承機構5上之該等物件2作 動，並引發該等物件2在該輸送方向3上之輸送運動。該 驅動機構8被設計成與該支承機構5無關，以致可形成分 離之功能’即一方面係該支承功能’而另一^方面則係該驅 動功能。該驅動機構8較佳地係不具有任何對該等物件2 -12- 200800770 之支承功能。 第1圖中，在該三個輸送模組6之該兩外側模組中僅展 示該驅動機構8。承載該驅動機構8之該模組基部7及亦由 該模組基部7所承載之該支承機構5均未被顯示在該兩外 側輸送模組6中。 即使該輸送裝置1並無設置任何模組設計’其仍將合宜 地展示一可當作一固持結構之骨架狀基部，其上則配置有 該支承機構5及該驅動機構8兩者。 該驅動機構8包括至少一群在功能上相配之吸取單元 12。在本運作實施例中，一個別群之吸取單元12被定位在 每一模組基部7上。考慮到成本與實用間之平衡，最好具 有一成對配置之吸取單元12。此一配置可存在在本運作範 例中，且在此之每一輸送模組6上配備有兩個功能上相配 且被相鄰設置之吸取單元12，其延伸橫跨過該輸送方向。 然而，亦可存在三個或更多個該類吸取單元12。 如第2圖所示，第1圖中所示之該等吸取單元12中之 一以較大比例之立體圖展示。此外，破折線係用以表示由 該支承機構5所界定之該輸送平面4,而未顯示細節。第2 圖亦以圖式槪括顯示用於操作該驅動機構8之控制機構 1 3，其用於執行所要之作業步驟，並供應該等步驟所要之 電氣及/或液體動力信號。 每一吸取單元1 2包括至少一吸取夾持器1 4。在此情況 下’較佳地具有諸吸取單元12之多個配置，複數個吸取夾 持器1 4被成對配置且沿該輸送方向3被分隔開。此一配置 200800770 事實上被採用於本運作實施例中，被依序配置之吸取夾持 器14被放置成爲一列，其與輸送方向3成直線對準。在本 範例中’每一吸取單元12具有三個此類吸取夾持器14。 該等吸取夾持器14各可藉由真空而吸附在該等待輸送 之物件2中之一者上，以便可與個別物件2間存在一暫時 之強力連接。物件2於是不會被從支承機構5處提升。 該等吸取夾持器14及較佳地整個吸取單元12被定位在 該輸送平面4下方。該等吸取夾持器1 4使其吸取側1 5面 向上而朝向該輸送平面4及放置在平面上之該等物件2。 在本範例中，每一吸取夾持器丨4均包括一或多個杯 體，其具有一向上擴寬之開口。或者，可使用吸板或平吸 盤。該等杯體界定一向該吸取側1 5敞開之吸取空間1 6，且 吸取空間被連接至一真空產生機構1 7。真空產生機構1 7 係處於一產生真空壓力之狀態下，以致使空氣可從吸取夾 持器1 4之吸取空間1 6處被抽出。如果吸取夾持器1 4使其 吸取側1 5伸出至前部而停置在一位於一物件2上之不可透 氣或僅些微透氣之表面上，且如果吸取側1 5隨後被排空， 則其將可達成牢固之吸附啣合，直到被施加之吸取壓力被 消除爲止。這兩種狀況在下文中待稱之爲作動吸取狀態及 閒置吸取狀態。 爲了輸送一物件2，該等吸取夾持器1 4被作用至該物 件2上，並進入該作動吸取狀態’以便使該等吸取夾持器 14藉由吸力而牢固地與物件2啣合。爲了引發物件2之向 前運動，至少一被吸附在物件2上之吸取夾持器1 4被驅動 200800770 以執行在輸送方向3上之進給，該物件2然後藉由進給而 相對於維持在相同位置上之支承機構被移動。在此之後， 該等吸取夾持器1 4被重新設定在閒置吸取狀態下，並以一 相反於進給運動1 8之回返運動被驅動，而該等吸取夾持器 1 4則以一被從該等物件2處釋放之狀況回返至其初始位置 上。在此’一新的輸送循環被啓動。因此，在該控制機構 1 3之作用下’該等吸取夾持器！ 4在該被吸附之狀態下沿著 該進給運動1 8以及在一從該等物件2處被釋放之狀態下沿 著一回返運動1 9被交替接續地驅動。 該等吸取夾持器1 4之進給運動1 8及回返運動1 9係藉 由槪括以符號2表示之進給機構所造成。 此外’每一吸取單元1 2包括升降機構23，藉其使該等 吸取夾持器1 4可被貫穿地移動，更具體而言係垂直於輸送 方向3移動’且更具體而言係垂直於輸送平面4移動，以 便可將該等吸取夾持器14從下方移向待輸送之物件，且在 _ @ ί乍H &彳戔可、沿一向下方向將該等吸取夾持器M移離 個別物件2。 進給機構22包括〜用於每一吸取單元丨2之獨立進給驅 動裝置24。此驅動裝置24被固定不動地配置，且在本運作 實施例Φ係由鞴ί送裝置1之模組基部或另一固定不動之固 持結構所固持。 進給驅動裝置24具有一輸出驅動部26，其例如係被置 入狹槽中’且如雙箭頭25所示地可被驅動，以便可交替地 在該輸送方向3及與其相反之方向上進行一輸出驅動運動 200800770 該輸出驅動運動25較佳係一直線運動。該直 其係由一線性驅動裝置所引發’而該線性驅動裝 設計成一電子，線性驅動裝置之型式° 本運作範例之該進給驅動裝置24包括一具有 圍之殼體27’且具有若干終止部28’其上配置一 向輪（圖中未詳不）。一*据齒帶32伸展於該殼體 經由一位於該殼體27中之狹槽3 3，該輸出驅動g 連接於該帶上。一被配置在該等終止部28中之一 動馬達34可選擇地沿著諸相反之轉動方向驅動裏 輪，藉此而可在所要之方向上引發輸出驅動部26 動運動25。 該控制機構1 3之電子控制機構35被連接至1 34，以便可分別地供應其所需之控制或致動信號 輸出驅動部2 6上具有成剛性結構型式之吸取 φ 架36。載架具有一長條形之構形，亦可使用一管 狀、或軌道狀結構，而其較佳地具有一柵格形狀 減輕重量且具有高撓曲剛性。 該吸取夾持器載架3 6直接承受該等吸取夾持 爲其承載與吸取夾持器14配合之該升降機構23 t 用該升降機構23，將使得該等個別吸取夾持器1 4 吸取夾持器載架3 6沿著一與輸送平面4相垂直之 而被分別地且彼此無關地驅動；該等個別吸取夾彳 遵循該升降方向而被升降。吸取夾持器載架36在 線運動尤 置較佳係 一直線範 轉彎或轉 27中，且 ® 26可被 者上之電 ^轉彎 之輸出驅 I動馬達 〇 夾持器載 狀、橫樑 ，以便可 器14，因 >因此，使 可相對於 升降方向 時器14可 升降運動 200800770 中並不會隨之升降，以致使該等待移動之質量可相當地小。 較佳地，每一個別吸取夾持器1 4上均配備有一升降驅 動裝置38，其隸屬於該升降機構23。在此一方面，較佳地 係提出藉由氣壓操作之升降驅動裝置38,尤其是呈氣壓缸 型式者。第2圖中以較大比例顯示之截面圖清晰顯示該等 升降驅動裝置38可分別地具有一在其中設有一垂直移動 升降活塞43之殼體42，而升降活塞43係被連接至一活塞 桿44，其向上延伸出殻體42並承載一吸取夾持器14及其 • 真空產生機構1 7。 經由若干流體導管45，升降驅動裝置3 8可與一電氣操 作之控制閥機構46相連接，而控制閥機構46隸屬於控制 機構1 3且係由該電子控制機構35所控制。在此狀態中， 可藉由該升降活塞43而分離地供給壓縮空氣至該兩彼此 相分隔之工作空間內，以便可垂直地移動並可定位該升降 活塞43以及該吸取夾持器1 4。升降行程較佳地係由抵觸 (abutment)機構（未示於圖）所設定，以便可防止該等物件 ® 藉由向上地移動遠離該支承機構5而被舉起。 或者，在氣壓設計方面，升降驅動裝置38亦可呈電子 驅動裝置之型式。此外，上述之進給機構亦可爲一氣壓線 性驅動裝置，以取代一電子線性驅動裝置。 該等真空產生機構1 7係依據所謂之噴射器原理被設 計。該等真空產生機構1 7包括一吸取噴嘴47，其在內側上 與一流體導管51相連接，空氣則可在大氣表壓力或在周遭 壓力下經由該流體導管5 1而被供應。該壓力作用藉由另一 -17- 200800770 藉由電氣操作之控制閥機構5 2在該電子控制機構之控制 下被設定。此外，兩控制閥機構46及52亦可被聚集在一 起成爲一共同之控制閥機構。 在外側上，該吸取噴嘴47尤其經由一被居中放置之消 音器5 3而通向大氣。 當壓縮空氣正流動通過吸取噴嘴47時，其將依據該噴 射器原理在一吸取區域54中形成真空。吸取夾持器14被 連接至此吸取區域，且較佳地與該真空產生機構17集合在 ® —起成爲單一總成。 爲求產生吸取夾持器1 4之作動狀態，吸取噴嘴4 7被供 給以壓縮空氣。因爲吸取噴嘴47之入口被轉換成爲無壓力 或可通氣，故呈現一種閒置吸取狀態。如果必要，該閒置 吸取狀態可藉由用以供應壓力脈衝至吸取空間1 6內之機 構（未示於圖）而被附加地或亦可選擇地產生。 由於個別地提供該等具有真空產生機構1 7之吸取夾持 器14,故存在個別地將該等吸取夾持器14設定在該作動或 ® 閒置吸取狀態中之可能性。或者，多個吸取夾持器1 4可與 一真空產生機構17相連接，而每一吸取夾持器14於是較 佳地具有其自有之閥機構，其在當吸取空間1 6未被一物件 2所覆蓋時，將於外部控制下或將自動地停止吸取作業。 每一個別輸送模組6之該等吸取單元1 2在設計上可爲 同一的。在本運作實施例中，該等吸取單元1 2之不同點僅 在於被凸緣安裝於諸相對側上以致可彼此直接相鄰地安置 之電動馬達34。該等電動馬達34於是橫貫該輸送方向3 -18- 200800770 而延伸於遠離該等進給機構24之諸相對側上。 以第3圖至第8圖中所示之一輸送模組6爲基礎，下文 中將詳細說明一物件2之輸送在不同操作相下之一較佳處 理順序。該等圖示係以高的示意方式而說明，且其上所呈 現之兩吸取單元1 2中，前方者係以破折線顯示，而後方者 係以實線顯示。爲求說明之簡化，有關該等吸取單元之諸 組件的元件符號在一種情況中被加置一 ^ a」，而在另一情 況中則被加置一「b」。 • 第3圖至第8圖係若千沿第1圖中之箭頭III方向所觀 看之側視圖。在此一情況中，僅該等吸取單元1 2之吸取夾 持器載架36a及36b被顯示具有該等升降機構39a及39b， 且分別地具有兩吸取夾持器14a及14b。 爲了說明起見，應注意的是，兩吸取單元1 2被操作成 在狀態上係成彼此相對的。因此，在每一情況中，一個別 之吸取單元1 2 a在處理順序上總是稍微在另一吸取單元 12b之前。 ^ 在如第3圖所示之操作狀態中，該等吸取夾持器1 4a 及1 4b被舉升，且在該等吸取夾持器同時處於一作動吸取 狀態之情況中可從下方與該個別物件2相吸附啣合。該兩 吸取單元12a及12b之該等吸取夾持器14a及14b執行一進 給運動18a及18b，且因此帶動被其所吸取之該物件2。被 顯示在前方之該第一吸取單元12a的該等吸取夾持器i4a 因此在該輸送方向3上係位於被顯示在後方之該第二吸取 單元12b的該等吸取夾持器14b之前。 -19- 200800770 在位於第一吸取單元12a中之該等吸取夾持器14a已到 達進給行程末端之後，該等吸取夾持藉由控制機構1 3而被 解除作動並降低。此狀況由第4圖中所示可顯知。在此一 情況中，仍處於與物件成牢固吸附啣合之第二吸取單元1 2b 的該等吸取夾持器14b將持續其進給運動18b。 依據第5圖所示，該等被降低之吸取夾持器1 4然後執 行回返運動，而第二吸取單元12b之該等吸取夾持器14b 仍將持續進行其進給運動18b。 • 在位於第二吸取單元1 2b中之該等吸取夾持器1 4b到達 進給行程末端之前，吸取夾持器載架36a連同其吸取夾持 器14a將已先被移回至其出位置中。在此一如第6圖所示 之狀態中，該等相關聯之升降驅動裝置38a被操作以沿著 向外運動之方向移動，以致使第一吸取單元1 2a之該等吸 取夾持器1 4 a可如箭頭5 5所示般向上移動，直到該等吸取 夾持器啣合移動通過其上方之物件2的底面爲止。隨後， 該等吸取夾持器14a藉由另外之控制閥機構52而被解除作 ^ 動，以便使其再次地與物件2相吸附啣合。接著，在隨後 之進給運動18a中，該等吸取夾持器14a因此再次地施加 一進給力於物件2上。 該等控制機構1 3較佳地可產生一控制動作，而在當該 等吸取夾持器14a在一已被起動之進給運動18期間被加 速，以便可達到與仍啣合該物件2之另一第二吸取單元1 2 的該等吸取夾持器1 4b相同之速度時，可使得僅有該等吸 取夾持器1 4a在其吸取作用方面被作動。因此，與一物件2 -20- 200800770 之吸附啣合發生在該等吸取夾持器的進給速度相等於該物 件速度處之附近。 可自上列說明得知，控制動作亦可使得在各情況中該等 吸取夾持器1 4之至少一者將執行一進給運動1 8，而其同時 則與待輸送之物件2相吸附啣合。憑藉兩吸取單元1 2之一 互相匹配控制，如果必要則可利用此一方式確保該等物件 2之運動不致於停止。 第7圖顯示一狀態，其中在該相關聯之第二吸取單元 1 2b的該等吸取夾持器1 4b已到達進給行程末端之後，已預 先被解除作動之吸取夾持器14a會被降低。在此一點處， 具有其用於固持該物件2之諸吸取夾持器1 4 a的第一吸取 單元1 2 a係專門地負責該進給運動1 8 a。 第8圖顯示一可與第5圖之操作狀態作比擬之操作狀 態，只是在兩吸取單元12a及12b之作動上的改變。該第 一吸取單元1 2a執行與帶動該等物件2相關之進給運動 18a，而第二吸取單元12b則執行回返運動。 每一輸送模組6之上述運作循環將連續地發生，以便可 有序地輸送該等物件2通過所有經配置成列之輸送模組 6。因爲該等個別輸送模組6之在輸送方向上所量測之長度 係分別地等於一吸取單元加上其執行於起始位置與進給行 程末端間之輸送行程所得的總長度’且在任何情形下均不 會小於該總長度，故該等輸送模組6間之相互干擾阻礙將 不會發生。 因此，在該等個別輸送模組6之間僅需要該等作業步驟 200800770 之一微小程度的同步化。每一輸送模組6可獨立於其他輸 迭模組6而運作。僅有運動方向及速度必需被同步化。在 該等輸送模組6本身之內，該等吸取單元1 2之同步化係必 需的，此係不具有任何複雜之技術控制特點者。 較佳地，該等吸取單元1 2待操作成可使在此等吸取夾 持器14處於閒置狀態下所發生之回返運動19係處於一比 進給運動18更高之速度下。在此方式中，如果需要，可藉 由一極小數量之吸取夾持器1 4，而達成具有一相當高輸送 Φ 速度之連續輸送。 當該等吸取夾持器1 4被舉升時，並不絕對需要升降機 構23被連續地作動。一旦該等吸取夾持器1 4已和一物件2 相吸附啣合，升降機構23可被關閉，以便使其不在施加任 何垂直力。於是其僅構成帶動機構，藉此使該等經吸取而 被固持之物件2被帶動，以便於進行支承動作。 藉由使用輸送裝置1，該等物件2可在不管其總長度之 下被輸送，而無需作個別之因應改變。進給原則並不限於 β -特定長度之物件。 亦存在選擇性地解除作動若干介於多個依序地移動之 物件間的個別輸送模組6，以便可形成一間隙或關閉任何 存在之間隙。 如果必要，可將該輸送裝置1切換成被動型式。在此情 形中，將足以下降所有吸取夾持器14，以便使其可與該輸 送平面4相分隔開。然後，該等物件於該支承機構5上保 持固定不動，且如果需要可藉由人工方式被移動至該支承 -22- 200800770 機構5所允許之範圍。 【圖式簡單說明】 在上文中，本發明已經參照下列之圖式而詳細說明。 第1圖係在一從下方觀看之立體圖中顯示本發明之輸 送裝置之較佳第一實施例之一部分^ 第2圖顯示如第1圖所示之輸送裝置的一部分，而此部 分係具有一吸取單元者，且另包含以圖式槪括說明之用於 操作該輸送裝置之控制機構。 第3圖至第8圖係以一沿第1圖中之箭頭in方向所觀 看之簡化示意圖表示輸送裝置之各種不同操作狀態。 【主要元件符號說明】 1 輸 送 裝 置 2 物 件 3 輸 送 方 向 4 輸 送 平 面 5 支 承 機 構 5 a 輥 輸 送 機 5 b 支 承 輥 6 輸 送 模 組 7 模 組 基 部 8 驅 動 機 構 12 吸 取 單 元 12a 第 —^ 吸 取單元 -23- 200800770200800770 IX. Description of the Invention: [Technical Field] The present invention relates to a conveying device for conveying articles horizontally in a conveying direction, comprising: a supporting mechanism for vertically during conveying of the articles Supporting the objects; and a drive mechanism that acts on the supported objects to initiate the transport of the objects. [Prior Art] Φ For example, as part of an industrial manufacturing operation, the power driven horizontal transport of the objects In particular, for articles having a large surface area, they are usually carried out using a drive roller conveyor. A large number of rotary drive rollers form an object transport plane and produce the same function as both the support mechanism for vertically supporting the articles and the drive mechanism for initiating the transport motion. However, this conveying mechanism does have the following drawbacks: the conveyed articles may be contaminated by debris generated by the abrasion of the rollers and the rollers. This cannot be tolerated in some applications. This refers in particular to the case of the transport of sheet-like substrates for the electronics industry, such as glass or plastic for flat image screens. Complex monitoring measures and possible cleaning operations are necessary in this case. Other types of conveyors, such as belt, belt, strap conveyors, are only suitable for a limited range in many applications due to the continuous rotation of the conveyor body. SUMMARY OF THE INVENTION The object of the present invention is to create a conveying device by which even pieces of debris can be conveyed horizontally without damaging the objects. For this and other purposes, the drive mechanism of the conveyor is designed to be independent of the support mechanism and includes at least one suction gripper that is releasably attached to the article by suction. And in the adsorbed state, it can be driven to perform a feeding motion along the driving direction with respect to the supporting mechanism, thereby driving the objects which are respectively sucked and thus fixed, thereby generating the conveying motion of the object. In this manner, the support mechanism only has the function of aligning the object to be transported. In order to generate the driving force required for operation, the additional drive mechanism will be responsible for providing, and it will not perform any supporting action on the objects. For example, the support mechanism can be formed as a simple non-driven roller conveyor type or as a support bearing slide rail type having a gas bearing, and thus the support mechanisms have a relatively simple construction. To transmit the driving force, the drive mechanism will include at least one suction gripper that can be operatively coupled to the items to be transported separately to form a drive connection without slipping therewith. During the feed movement of the at least one suction gripper that is performed in the adsorbed state, the at least one suction gripper will drive the retained article and thereby initiate the desired transport motion. Preferably, the delivery device comprises a plurality of suction grippers that can be responsively coupled to the items to be transported in an alternating manner or in groups. Since the suction engagement is carried out simultaneously with a plurality of suction grippers, it is possible to safely and accurately move an article having a particularly large surface area and/or a large weight. Since a plurality of suction grippers are sequentially activated, continuous conveyance of the articles can be provided if necessary, and the object to be conveyed is transferred from one of the other suction grips to the next suction. The gripper is alternately rotated between the actuated state and the idle state in an alternating manner. When the suction grippers are removed from the object being transported, the suction grippers are alternately driven to move in opposite directions relative to the feed direction. The elevating transport stroke that is subsequently performed can be independent of the length of the object being measured in the transport direction, and the desired feed motion can be produced in conjunction with a defined and synchronized collaboration. In this case, the objects (generally referred to as workpieces) can be moved step by step at a constant speed depending on the selected control, or moved at a variable speed. The delivery device of the present invention also has the advantage of being easily switched to a passive state. To this end, it is only necessary to stop the suction grippers and preferably remove them from the articles so that the suction grippers can now exclusively cooperate with the support mechanism. In the case where a plurality of articles are sequentially transported, since the suction grippers are released, the articles can be easily moved closer together if the objects are too far apart, or such The objects are moved apart to form a gap. In the case of a preferred embodiment of the transport device, the drive mechanism for initiating the transport movement can have a feed mechanism for generating the feed motion of the suction gripper and a reverse Return movement. In order to move the suction gripper to an object to be held by the suction and release the object, an additional lifting mechanism will be provided, whereby the suction gripper can be moved through the object. In the direction of the conveying direction. Although a split design is generally satisfactory, the lift mechanism design 200800770 can also be incorporated into a single assembly having the drive mechanism. During operation of the delivery device, the feed mechanism and the lift mechanism can be controlled to perform the desired set of motions by appropriate control mechanisms. Due to the control mechanism, the individual suction grippers can be actuated or deactivated simultaneously in the same manner as they are moved. A design that is considered to be particularly advantageous is one that includes a plurality of suction units each having one or more suction grippers, and that can be driven by the feed mechanism as the phase changes The suction gripper performs an alternating feed® motion and reverse return motion. Because the suction gripper is simultaneously at least temporarily adsorbed onto an object during the feed motion, and is again removed during the return motion, it can be any kind of reverse movement operation, but During the operation, the lifting units are driven in an alternating manner. Preferably, the operation of the suction unit occurs in a manner that allows at least one suction unit to perform a feed motion, wherein the suction unit is in the actuated adsorption engagement state and is adsorbed to be transported. The object climbs and drives the object. If the conveying device comprises two suction units operated by a state offset, the control will occur in particular so that the return stroke of one of the other suction units is in each case located in the previous stroke of the other other suction unit In the middle of the window. This would be another advantage if the return motion is performed at a speed higher than the feed motion. Therefore, a suction gripper that has completed the feed motion can start the next feed motion relatively quickly. -8- 200800770 If a suction unit comprises a plurality of suction grippers, the suction grippers are preferably placed in a row extending in the conveying direction. Preferably, each of the individual suction units has at least one preferably rail-shaped or beam-shaped suction gripper carrier on which one or more suction grippers are mounted and used to initiate such The feed mechanism of the feed and return movement of the suction gripper disposed thereon can act on the suction gripper carrier. The individual feed drive of the feed mechanism can be responsible for each suction unit. As for the feed drive, it will be in particular a linear drive, and in particular an electric or pneumatic servo linear drive. In order to individually move the suction grippers relative to the object to be transported, or relative to the transport plane, through the transport direction, each pick-up unit is preferably provided with an elevating mechanism adapted to generate a lifting motion. If desired, the lifting mechanism can act on the suction gripper carrier so that all of the suction grippers disposed thereon can always be moved simultaneously through the transport direction. In order to minimize the quality of the movement to be as much as possible, some equipment must result in a higher operating speed and a lower load on the conveyor; however, for each lifting mechanism of the suction gripper It is convenient to have separate lifting drives (such as a pneumatic cylinder). This means that the suction grippers of each individual suction unit can be moved independently of each other in the direction of the conveying direction. The vacuum required for the suction operation of the suction grippers is preferably provided by a vacuum generating mechanism associated with the delivery device. In this case, each suction gripper is preferably equipped with its own vacuum generating mechanism. This -9-200800770 vacuum generating mechanism operating in accordance with the ejector principle, together with the suction gripper, can be supported by the output drive of the associated lift drive. The delivery device preferably has a control mechanism that includes an electronic type of control mechanism that enables control of various different motion sequences in a mutually matched manner. Also preferably, the suction grippers are operated by the control mechanism in their suction function so that the actuating suction condition moves only at the same speed as the individual suction gripper during its feed motion. Occurs only when the object is being transported by another suction unit. Accordingly, the feed motion can include an initial acceleration state in which the suction gripper is still idle, during which the suction gripper is accelerated from a stationary state to a desired feed speed. In an advantageous manner, the delivery device can be a designer having a module. The delivery device then includes a plurality of delivery modules that can be placed in a row along the delivery direction and each having a driven Φ at least two suction units that operate in a state biased manner. In this case, the length measured along the direction of transport of the individual transport modules is preferably equal to the total length of the individual pick-up units plus the strokes from the individual pick-up units. In this manner, the unobstructed transfer of the items between the successive transport modules can be achieved, and the transport modules need not be synchronized in relation to each other in relation to each other. This is only the mode of operation of the suction units in the individual transport modules, which must be synchronized with one another. In subsequent or previous delivery modules, i.e., in any of the delivery modules disposed after or prior to them, the state relationships between the suction units can be quite different. -10- 200800770 The matching between successive delivery modules is only necessary in terms of the direction and speed of movement of the object being transported. [Embodiment] The conveying device represented by the symbol 1 and used as an example to convey articles of different shapes, in particular for conveying the sheet member 2, is included. As for the sheet-like members 2 in the present working example, the glass or φ synthetic resin material panel having a large surface area to be processed in the production of the flat image screen will be discussed. During the transport of the articles 2, they are supplied to a number of manufacturing units, which are not described in detail and are not included in the drawings. The motion performed during the transport of the objects 2 is to be referred to as the transport motion. This conveying motion occurs linearly in the horizontal conveying direction 3 indicated by an arrow. During its transport, the objects 2 are moved on a horizontally extending transport plane 4 which is defined by the fixed support mechanism 5 of the transport device 1. The articles 2 are laid flat in a downward direction on the support 5 extending below them. Figure 1 is a perspective view taken from below the conveyor 1, the base on which the conveyor is mounted is not shown, thereby creating the impression that the equipment is suspended in mid-air. The conveying device 1 is only partially shown in the first drawing 'to make the drawing simpler and clearer. The conveying device 1 is preferably composed of a plurality of individual conveying modules 6 arranged in a row along the conveying direction 3. Three of the modules are shown in Figure 1, and some are only Show part. The number of transport modules 6 in the 200800770 column is in principle not important. It is also possible to have only one transport module 6 only. Each of the transport devices 1 includes a more specifically skeleton-like module base 7 that remains stationary during use of the transport device 1. The module base 7 is subjected to the above-mentioned support mechanism 5, which is more specifically constituted by one or more roller conveyors 5a extending in the conveying direction 3. The roller conveyor 5a is not driven, and includes a plurality of support rollers 5b which are respectively rotatable about a rotation axis at a position thereof, and the rotation shaft is parallel to the conveying plane 4 and the conveying direction Extends vertically. As an alternative, the support mechanism 5 can be formed in other mechanism types, and the articles 2 can be moved longitudinally on the support mechanism 5 without applying a driving force. For example, a simple and fixed bearing surface in the form of a flat bearing surface can be a problem. In order to improve the carrying function, an air cushion can be set. Another example of the operation of the support mechanism 5 is comprised of a plurality of support balls; and when used to define the transport plane 4, the support balls are supported such that they are free to rotate about themselves in a given distribution. Further possible designs of the support mechanism 5 can also be used. Furthermore, each transport module 6 comprises a drive mechanism 8 which, during operation of the transport device 1, activates the objects 2 placed on the support mechanism 5 and causes the objects 2 to be in the transport direction 3 Transport movement. The drive mechanism 8 is designed to be independent of the support mechanism 5 so that the function of separation can be formed, i.e., on the one hand, the support function, and on the other hand, the drive function. The drive mechanism 8 preferably does not have any supporting function for the items 2 -12 - 200800770. In Fig. 1, only the drive mechanism 8 is shown in the two outer modules of the three transport modules 6. The module base 7 carrying the drive mechanism 8 and the support mechanism 5 also carried by the module base 7 are not displayed in the two outer side transport modules 6. Even if the transport device 1 is not provided with any modular design, it will conveniently exhibit a skeleton-like base that can serve as a retaining structure on which both the support mechanism 5 and the drive mechanism 8 are disposed. The drive mechanism 8 includes at least one group of functionally matched suction units 12. In this operational embodiment, an individual group of suction units 12 are positioned on each module base 7. In view of the balance between cost and utility, it is preferable to have a suction unit 12 of a pair configuration. This configuration may be present in this operational example, and each of the transport modules 6 is provided with two functionally matched and adjacently disposed suction units 12 that extend across the transport direction. However, there may also be three or more such suction units 12. As shown in Fig. 2, one of the suction units 12 shown in Fig. 1 is shown in a larger scale perspective view. Further, a broken line is used to indicate the conveying plane 4 defined by the supporting mechanism 5, and details are not shown. Figure 2 also shows, in the drawings, a control mechanism 13 for operating the drive mechanism 8 for performing the desired work steps and supplying the electrical and/or hydraulic signals required for the steps. Each suction unit 1 2 includes at least one suction gripper 14 . In this case, it is preferable to have a plurality of configurations of the suction units 12, and the plurality of suction grippers 14 are arranged in pairs and are spaced apart in the conveying direction 3. This configuration 200800770 is in fact employed in this operational embodiment in that the sequentially configured suction grippers 14 are placed in a row that is aligned with the transport direction 3. In the present example, each suction unit 12 has three such suction grippers 14. The suction grippers 14 can each be attracted to one of the articles 2 waiting to be transported by vacuum so that there is a temporary strong connection with the individual articles 2. The object 2 is then not lifted from the support mechanism 5. The suction gripper 14 and preferably the entire suction unit 12 are positioned below the transport plane 4. The suction grippers 14 have their suction side 1 5 facing upwards towards the transport plane 4 and the objects 2 placed on the plane. In the present example, each suction gripper 4 includes one or more cups having an upwardly widened opening. Alternatively, use a suction plate or a flat suction cup. The cups define a suction space 16 that is open to the suction side 15 and the suction space is connected to a vacuum generating mechanism 17. The vacuum generating mechanism 17 is in a state in which a vacuum pressure is generated so that air can be drawn out from the suction space 16 of the suction gripper 14. If the gripper 14 is sucked such that the suction side 1 5 projects to the front and rests on a non-breathable or only slightly gas permeable surface on an object 2, and if the suction side 15 is subsequently emptied, Then it will achieve a firm adsorption fit until the applied suction pressure is eliminated. These two conditions are hereinafter referred to as the active suction state and the idle suction state. In order to convey an object 2, the suction grippers 14 are applied to the object 2 and enter the actuating state of the state so that the suction grippers 14 are firmly engaged with the article 2 by suction. In order to initiate the forward movement of the object 2, at least one suction gripper 14 adsorbed on the object 2 is driven 200800770 to perform the feed in the conveying direction 3, which is then maintained relative to the feed by feeding The support mechanism at the same position is moved. After that, the suction grippers 14 are reset in the idle suction state and are driven in a return movement opposite to the feed motion 18, and the suction grippers 14 are The condition released from the objects 2 is returned to its original position. Here a new delivery cycle is initiated. Therefore, under the action of the control mechanism 13, the suction grippers are sucked! 4 is alternately driven in the adsorbed state along the feed motion 18 and in a state of being released from the objects 2 along a return motion 19. The feed motion 18 of the suction gripper 14 and the return motion 19 are caused by the feed mechanism indicated by the symbol 2. Furthermore, each suction unit 12 includes a lifting mechanism 23 by which the suction grips 14 can be moved through, more specifically perpendicular to the conveying direction 3, and more specifically perpendicular to The conveying plane 4 is moved so that the suction gripper 14 can be moved from below to the object to be conveyed, and the suction gripper M can be moved in a downward direction at _@ί乍H & From individual objects 2. The feed mechanism 22 includes a separate feed drive unit 24 for each suction unit 丨2. The driving device 24 is fixedly arranged, and in the present embodiment, the Φ is held by the module base of the 鞴 送 feeding device 1 or another fixed holding structure. The feed drive unit 24 has an output drive 26 which is, for example, inserted into the slot and can be driven as indicated by the double arrow 25 so as to be alternately movable in the transport direction 3 and in the opposite direction An output drive motion 200800770 The output drive motion 25 is preferably a linear motion. The straight drive is triggered by a linear drive device and the linear drive assembly is designed as an electronic, linear drive device. The feed drive device 24 of the present operational example includes a housing 27' having a plurality of terminations. The portion 28' is provided with a one-way wheel (not shown in the figure). A * tooth belt 32 extends over the housing via a slot 3 3 in the housing 27, the output drive g being attached to the belt. A motor 34, which is disposed in the terminating portion 28, selectively drives the inner wheel in opposite rotational directions, thereby causing the output drive portion 26 to move 25 in the desired direction. The electronic control unit 35 of the control unit 13 is connected to 134 so that the desired control or actuation signal can be supplied separately. The output φ frame 36 having the rigid structure type on the output drive unit 26 is provided. The carrier has an elongated configuration, and a tubular or rail-like structure may be used, which preferably has a grid shape to reduce weight and have high flexural rigidity. The suction gripper carrier 36 directly receives the suction grips for the lifting mechanism 23 that is engaged with the suction gripper 14 and uses the lifting mechanism 23 to draw the individual suction grippers 14 The holder carriers 36 are driven separately and independently of each other along a direction perpendicular to the conveying plane 4; the individual suction jaws are raised and lowered following the lifting direction. The suction gripper carrier 36 is preferably moved in a straight line or in the turn 27, and the output of the motor can be driven by the motor, the loader, and the beam. The device 14, as a result, can be moved up and down in the 200800770 with respect to the lifting direction of the timing device 14 so as not to rise and fall, so that the quality of the waiting movement can be considerably small. Preferably, each of the individual suction grippers 14 is provided with a lifting drive 38 which is associated with the lifting mechanism 23. In this aspect, it is preferred to provide an elevation drive 38 that is operated by air pressure, particularly in the form of a pneumatic cylinder. The cross-sectional view shown in a larger scale in Fig. 2 clearly shows that the lifting drive devices 38 can each have a housing 42 in which a vertically moving lifting piston 43 is disposed, and the lifting piston 43 is connected to a piston rod. 44, which extends upwardly out of the housing 42 and carries a suction gripper 14 and its vacuum generating mechanism 17. The lift drive unit 38 is connectable to an electrically operated control valve mechanism 46 via a plurality of fluid conduits 45, and the control valve mechanism 46 is associated with and controlled by the control mechanism 13. In this state, compressed air can be separately supplied by the elevating piston 43 into the two mutually separated working spaces so as to be vertically movable and the lifting piston 43 and the suction gripper 14 can be positioned. The lifting stroke is preferably set by an abutment mechanism (not shown) to prevent the items from being lifted by moving upward away from the support mechanism 5. Alternatively, in terms of air pressure design, the lift drive 38 can also be in the form of an electronic drive. In addition, the feed mechanism described above may also be a pneumatic linear drive device instead of an electronic linear drive device. These vacuum generating mechanisms 17 are designed in accordance with the so-called injector principle. The vacuum generating mechanism 17 includes a suction nozzle 47 which is connected to a fluid conduit 51 on the inside, and air is supplied via the fluid conduit 51 at atmospheric pressure or under ambient pressure. This pressure is set by the other -17-200800770 by the electrically operated control valve mechanism 52 under the control of the electronic control mechanism. In addition, the two control valve mechanisms 46 and 52 can also be brought together to form a common control valve mechanism. On the outside, the suction nozzle 47 leads to the atmosphere, in particular via a centrally placed silencer 53. As the compressed air is flowing through the suction nozzle 47, it will create a vacuum in the suction region 54 in accordance with the injector principle. The suction gripper 14 is coupled to the suction zone and is preferably assembled with the vacuum generating mechanism 17 into a single assembly. In order to produce an actuation state of the suction gripper 14, the suction nozzle 47 is supplied with compressed air. Since the inlet of the suction nozzle 47 is converted to be pressureless or ventilable, it exhibits an idle suction state. If desired, the idle suction state can be additionally or alternatively generated by means of a mechanism for supplying a pressure pulse to the suction space 16 (not shown). Since the suction grippers 14 having the vacuum generating mechanism 17 are individually provided, there is a possibility that the suction grippers 14 are individually set in the actuating or in the idle suction state. Alternatively, a plurality of suction grippers 14 may be coupled to a vacuum generating mechanism 17, and each suction gripper 14 then preferably has its own valve mechanism that is not in the suction space 16 When the object 2 is covered, the suction operation will be stopped under external control or automatically. The suction units 12 of each individual transport module 6 may be identical in design. In the present operational embodiment, the suction units 12 differ only in the electric motor 34 that is flange mounted on the opposite sides so as to be directly adjacent to each other. The electric motors 34 then extend across the opposite sides of the feed mechanism 24 across the transport direction 3-18-200800770. Based on one of the transport modules 6 shown in Figures 3 through 8, the preferred processing sequence for transport of an article 2 under different operational phases will be described in detail below. The drawings are illustrated in a high schematic manner, and in the two suction units 12 presented thereon, the front is displayed by a broken line, and the rear is displayed by a solid line. For the sake of simplification of the description, the component symbols for the components of the pick-up units are added by one ^ a" in one case, and a "b" is added in the other case. • Figures 3 through 8 are side views of the thousands as viewed in the direction of arrow III in Figure 1. In this case, only the suction gripper carriers 36a and 36b of the suction unit 12 are shown having the lift mechanisms 39a and 39b, and have two suction grippers 14a and 14b, respectively. For the sake of explanation, it should be noted that the two suction units 12 are operated to be in a state of being opposed to each other. Therefore, in each case, one of the suction units 1 2 a is always slightly before the other suction unit 12b in the processing order. ^ In the operating state as shown in Fig. 3, the suction grippers 14a and 14b are lifted, and in the case where the suction grippers are simultaneously in an actuated suction state, they can be Individual objects 2 phase adsorption fit. The suction grippers 14a and 14b of the two suction units 12a and 12b perform a feed motion 18a and 18b, and thus drive the object 2 sucked by them. The suction grippers i4a of the first suction unit 12a, which is shown in the front, are thus positioned in the transport direction 3 before the suction grippers 14b of the second suction unit 12b which are displayed behind. -19- 200800770 After the suction grippers 14a in the first suction unit 12a have reached the end of the feed stroke, the suction grips are deactivated and lowered by the control mechanism 13. This situation is apparent from the diagram shown in FIG. In this case, the suction grippers 14b, which are still in the second suction unit 1 2b that are in firm engagement with the article, will continue their feed motion 18b. According to Fig. 5, the lowered suction grippers 14 then perform a return movement, and the suction grippers 14b of the second suction unit 12b will continue their feed motion 18b. • The suction gripper carriage 36a along with its suction gripper 14a will have been moved back to its out position before the suction gripper 14b in the second suction unit 12b reaches the end of the feed stroke in. In this state as shown in Fig. 6, the associated lifting drive 38a is operated to move in the direction of outward movement to cause the suction gripper 1 of the first suction unit 1 2a 4 a can be moved upward as indicated by arrow 55 until the suction gripper engages to move past the bottom surface of the article 2 above it. Subsequently, the suction gripper 14a is released by the additional control valve mechanism 52 to cause it to again engage the object 2. Then, in the subsequent feed motion 18a, the suction grippers 14a thus again apply a feed force to the article 2. The control mechanisms 13 preferably generate a control action that is accelerated during the feed movement 18 that has been initiated in order to achieve the desired engagement with the object 2 The suction of the gripper 14b of the other second suction unit 1 2 at the same speed allows only the suction grippers 14a to be actuated in terms of their suction action. Therefore, the adsorption engagement with an object 2-20-200800770 occurs when the feed speed of the suction grippers is equal to the speed of the article. As can be seen from the above description, the control action can also be such that in each case at least one of the suction grippers 14 will perform a feed motion 18 and at the same time it is adsorbed to the object 2 to be transported. Cohesion. By means of one of the two suction units 12, the matching control is carried out, and if necessary, this method can be used to ensure that the movement of the objects 2 is not stopped. Figure 7 shows a state in which the suction gripper 14a, which has been previously deactivated, is lowered after the suction grippers 14b of the associated second suction unit 12b have reached the end of the feed stroke. . At this point, the first suction unit 12a having its suction gripper 14a for holding the article 2 is exclusively responsible for the feed motion 18a. Fig. 8 shows an operational state comparable to the operational state of Fig. 5, except for the change in the actuation of the two suction units 12a and 12b. The first suction unit 1 2a performs a feed motion 18a associated with driving the objects 2, and the second suction unit 12b performs a return motion. The above-described operational cycle of each of the transport modules 6 will occur continuously so that the articles 2 can be transported in an orderly manner through all of the transport modules 6 arranged in columns. Since the lengths of the individual transport modules 6 measured in the transport direction are respectively equal to the total length of a suction unit plus its transport stroke between the start position and the end of the feed stroke' and in any In this case, the total length is not less than that, so that mutual interference between the transport modules 6 will not occur. Therefore, only a slight degree of synchronization of these operational steps 200800770 is required between the individual transport modules 6. Each of the transport modules 6 can operate independently of the other transport modules 6. Only the direction of motion and speed must be synchronized. Within the transport modules 6 themselves, the synchronization of the pick-up units 1 2 is necessary, and this does not have any complicated technical control features. Preferably, the suction units 12 are to be operated such that the return movement 19 occurring during the idle state of the suction gripper 14 is at a higher speed than the feed motion 18. In this manner, a continuous delivery of a relatively high delivery Φ speed can be achieved by a very small number of suction grippers 14 if desired. When the suction grippers 14 are lifted, it is not absolutely necessary for the elevator mechanism 23 to be continuously operated. Once the suction grippers 14 have been engaged with an article 2, the lift mechanism 23 can be closed so that it does not exert any vertical force. Then, it constitutes only the driving mechanism, whereby the objects 2 which are sucked and held are driven to facilitate the supporting operation. By using the transport device 1, the articles 2 can be transported regardless of their overall length without requiring individual changes. The feed principle is not limited to β - objects of a specific length. There are also selectively deactivated individual transport modules 6 between a plurality of sequentially moving items so that a gap can be formed or any gaps present can be closed. If necessary, the conveyor 1 can be switched to a passive version. In this case, it will be sufficient to lower all of the suction grippers 14 so as to be separable from the delivery plane 4. The objects are then held stationary on the support mechanism 5 and can be manually moved to the extent permitted by the support -22-200800770 mechanism 5, if desired. BRIEF DESCRIPTION OF THE DRAWINGS In the above, the invention has been described in detail with reference to the following drawings. 1 is a perspective view of a preferred embodiment of the transport device of the present invention in a perspective view from below, showing a portion of the transport device shown in FIG. 1 and having a portion The unit is aspirated, and further includes a control mechanism for operating the conveying device as illustrated in the drawings. Figures 3 through 8 show various operational states of the delivery device in a simplified schematic view taken in the direction of the arrow in the first Figure. [Main component symbol description] 1 Conveying device 2 Object 3 Transport direction 4 Conveying plane 5 Support mechanism 5 a Roller conveyor 5 b Support roller 6 Transport module 7 Module base 8 Drive mechanism 12 Suction unit 12a - ^ Suction unit - 23- 200800770
12b 第 二 吸 取 單 元 13 控 制 機 構 14 吸 取 夾 持 器 14a 吸 取 夾 持 器 14b 吸 取 夾 持 15 吸 取 側 16 吸 取 空 間 17 真 空 產 生 機 構 18 進 給 運 動 18a 進 給 運 動 18b 進 給 運 動 19 回 返 運 動 22 進 給 機 構 23 升 降 機 構 24 驅 動 裝 置 2 5 輸 出 驅 動 運 動 2 6 輸 出 驅 動 部 27 殼 體 28 終 止 部 32 鋸 齒 帶 33 狹 槽 34 電 壬 動 馬 達 3 5 電 子 控 制 機 構 3 6 吸 取 夾 持 器 載架 -24- 200800770 36 a 吸 36b 吸 38 升 3 8a 升 39b 升 3 9a 升 42 殼 43 升 44 活 4 5 流 46 控 47 吸 5 1 流 52 控 53 消 54 吸 55 m12b second suction unit 13 control mechanism 14 suction gripper 14a suction gripper 14b suction gripper 15 suction side 16 suction space 17 vacuum generating mechanism 18 feed motion 18a feed motion 18b feed motion 19 return motion 22 feed Mechanism 23 Elevating mechanism 24 Drive unit 2 5 Output drive motion 2 6 Output drive unit 27 Housing 28 End portion 32 Serrated belt 33 Slot 34 Electric sway motor 3 5 Electronic control unit 3 6 Snap holder holder-24- 200800770 36 a Suction 36b Suction 38 L 3 8a L 39b L 3 9a L 42 Shell 43 L 44 Live 4 5 Flow 46 Control 47 Suction 5 1 Flow 52 Control 53 Eliminate 54 Suction 55 m
取夾持器載架 取夾持器載架 降驅動裝置 降驅動裝置 降驅動裝置 降驅動裝置 體 降活塞 塞桿 體導管 制閥機構 取噴嘴 體導管 制閥機構 音器 取區域 頭 -25-Take the gripper carrier Take the gripper carrier Down drive Down drive Down drive Down drive body Lower piston Plug stem Body guide Valve mechanism Take nozzle Body guide Valve mechanism Sounder Take area Head -25-