TWI670215B - Transport device and transport method - Google Patents

Abstract

Transfer device and transfer method. The first transport device includes a first transport belt that transports the transported object placed on the first transport belt in the first direction, and the second transport device has a second transport belt that is transported in the second direction. The conveyance of the second conveyance belt is disposed so that the width direction of the conveyance surface of the second conveyance belt is inclined with respect to the vertical direction, and the support tool supports the conveyed material so that the conveyance conveyed to the downstream side by the second conveyance device stays at the conveyance. The conveyance surface of the second conveyance belt is configured to support the conveyed object in the first posture to the first position, and to support the conveyed object in the second posture to the second position. When the conveyance of the first posture is released from the support of the support tool at the first position, it is moved from the second conveyance belt to the first conveyance belt by at least the self-weight and/or inertia force.

Description

Transport device and transport method

The present disclosure relates to a conveying device and a conveying method.

As disclosed in Patent Document 1 and Patent Document 2, a pull tab that uses a transport device to transport a slide fastener is known.

[Prior Art Literature] [Patent Literature]

[Patent Document 1] International Publication No. 2015/128948

[Patent Document 2] Chinese Patent Application Publication No. 103569645

There is a case where it is desired to sort the conveyed objects in different postures during the transportation.

The transport apparatus according to the first embodiment of the present invention includes a first transport device (10) having an annular first transport belt (15) and transported in the first direction (D1) to be placed on the first transport belt (15). The conveyance (5) on the conveyance surface; the second conveyance device (20) has an annular second conveyance belt (25), and In the second direction (D2) in which the first direction (D1) is different, the transported object (5) placed on the transport surface of the second transport belt (25) is transported, and the second transport belt (25) The width direction of the transport surface is inclined with respect to the vertical direction (AX1), and the support tool (50) supports the transported object (5) so as to be transported to the second transport device (20). The conveyance (5) on the downstream side stays on the conveyance surface of the second conveyance belt (25), and the support tool (50) is configured to support the conveyed object (5) in the first posture to In the first position, the conveyance (5) in the second posture different from the first posture is supported to a second position on the downstream side from the first position, and the conveyance in the first posture (5) When released from the support of the support tool (50) at the first position, at least the second conveyor belt (25) is moved to the first conveyor belt by its own weight and/or its inertial force. (15) Upper.

In some embodiments, the support tool (50) has a support surface extending in a direction in which the conveyance (5) is conveyed by the second conveyance device (20) in order to support the conveyance (5) ( 51).

In some embodiments, the support is transmitted to the transport surface of the second transport belt (25) in comparison with the upstream side in the direction in which the transport object (5) is transported by the second transport device (20). The height of the face (51) is low on the downstream side.

In some embodiments, the support tool (50) has a retraction extending in a direction in which the conveyance (5) is conveyed by the second conveyance device (20) and forms an acute angle with the support surface (51). Face (52).

In some embodiments, the support tool (50) has a support portion (55) disposed on the second conveyor belt (25), and the support surface (51) is disposed on the support portion (55) on.

In some embodiments, the support portion (55) has a direction extending in a direction in which the conveyance (5) is conveyed by the second conveying device (20) and an acute angle with respect to the support surface (51) Crossed retreat surface (52).

In some embodiments, the support portion (55) includes a portion that is triangular in cross-section.

In some embodiments, the support portion (55) ends on the upstream side of the downstream end of the second conveying device (20).

In some embodiments, an inclined surface (53) that is inclined downward from the second conveyor belt (25) side toward the first conveyor belt (15) side is provided, and the inclined surface (53) is provided for The conveyed object (5) is moved from the second conveyor belt (25) to a movement path on the first conveyor belt (15).

In some embodiments, the conveyance (5) released from the support of the support tool (50) is supplied to the first conveying device (10) on the downstream side of the second conveying device (20). The upstream side of the).

In some embodiments, the first transport device (10) has the transport device (10) transporting the transport object (5) to the downstream side in proximity to the second transport device (20). The first rectifying member (71) that rectifies the flow of the object (5).

In some embodiments, the first delivery device (10) has The second rectifying member (72) that rectifies the flow of the conveyed object (5) so that the conveyed object (5) is conveyed to the downstream side corresponding to the second conveying device (20).

In some embodiments, the conveyed object (5) is conveyed upward in the vertical direction (AX1) in correspondence with the conveyance to the downstream side by the first conveyance device (10).

In some embodiments, the second transport device (20) has the transported object (5) dropped from a downstream side of the first transport device (10) to the second transport belt (25) The boot tool (100).

In some embodiments, the guiding tool (100) has a concave guiding surface (101) that is continuous with the conveying surface of the first conveyor belt (15).

In some embodiments, the third transport device (30) further includes an annular third transport belt (35), and is different from the first direction (D1) and the second direction (D2). The conveyance (5) placed on the conveyance surface of the third conveyance belt (35) is conveyed in the direction (D3); and the support is released from the support of the support tool (50) at the second position. The conveyed object (5) is moved from the second conveyor belt (25) to the third conveyor belt (35).

In some embodiments, the fourth transport device (40) further includes a fourth fourth transport belt (45), and is different from the fourth direction (D1) to the third direction (D3). The conveyance (5) placed on the conveyance surface of the fourth conveyance belt (45) is conveyed in the direction (D4); and the conveyed object (5) is transported from the fourth conveyance device (40) ) is supplied to the first transport device (10).

In the transport method according to the embodiment of the present disclosure, the first transport device (10) having the first transport belt (15) having an annular shape is transported and placed on the first transport belt (15) in the first direction (D1). a step of transporting the object (5) on the transport surface; and a second transport device (20) having a second transport belt (25) having a ring shape in a second direction (D2) different from the first direction (D1) The conveyed object (5) placed on the conveyance surface of the second conveyance belt (25) is conveyed, and the width direction of the conveyance surface of the second conveyance belt (25) is perpendicular to the vertical direction (AX1) a step of being disposed obliquely; and supporting the conveyed object (5) conveyed to the downstream side by the second conveying device (20) by a support tool (50) to cause the conveyed object (5) to stay in the a step of transporting the second conveyor belt (25); the support tool (50) is configured to support the conveyance (5) in the first posture to the first position, and to be different from the first posture The conveyance (5) in the second posture is supported to a second position on the downstream side from the first position, and the conveyance (5) in the first posture is from the support position in the first position. (50) when the support is released, at least use it The self-weight and/or its inertial force moves from the second conveyor belt (25) to the first conveyor belt (15).

In some embodiments, the third transport device (30) having the third transport belt (35) having a ring shape has a third direction different from the first direction (D1) and the second direction (D2). (D3) a step of transporting the transported object (5) placed on the transport surface of the third transport belt (35), and releasing the support from the support tool (50) at the second position The move The feed (5) is moved from the second conveyor (25) to the third conveyor (35).

In some embodiments, the fourth conveying device (40) having the fourth conveyor belt (45) having a ring shape has a fourth direction different from the first direction (D1) to the third direction (D3). (D4) a step of transporting the transported object (5) placed on the transport surface of the fourth transport belt (45), and transporting the transported object (5) from the fourth transport device (40) ) is supplied to the first transport device (10).

The transport apparatus according to another embodiment of the present invention includes a second transport device (20) having an annular second transport belt (25) and transported on the transport surface of the second transport belt (25). The conveyance (5), the width direction of the conveyance surface of the second conveyance belt (25) is inclined with respect to the vertical direction (AX1), and the support tool (50) supports the conveyance (5) The conveyance (5) conveyed to the downstream side by the second conveyance device (20) is stopped on the conveyance surface of the second conveyance belt (25); and the support tool (50) is configured The conveyance (5) in the first posture is supported to the first position, and the conveyance (5) in the second posture different from the first posture is supported to the downstream side from the first position. In the second position, the conveyance (5) in the first posture is moved by at least its own weight and/or its inertial force when released from the support of the support tool (50) at the first position. It is not until the second conveyor belt (25).

According to an embodiment of the present disclosure, it is possible to facilitate sorting of the conveyed objects in different postures during the transporting process.

5‧‧‧Transportation

6‧‧‧Transporting device

10‧‧‧1st conveyor

10f, 20f, 30f, 40f‧‧‧ upstream side end

10g, 20g, 30g, 40g‧‧‧ downstream end

15‧‧‧1st conveyor belt

15j, 25j, 35j, 45j‧‧‧Transfer surface

20‧‧‧2nd conveyor

25‧‧‧2nd conveyor belt

30‧‧‧3rd conveyor

35‧‧‧3rd conveyor belt

40‧‧‧4th conveyor

45‧‧‧4th conveyor belt

50‧‧‧Support tool

51‧‧‧ support surface

52‧‧‧Retraction surface

53, 61‧‧‧ sloped surface

55‧‧‧Support

59‧‧‧Steps Department

60‧‧‧Bridge components

71‧‧‧1st rectifying member

72‧‧‧2nd rectifying member

73‧‧‧3rd rectifying member

90, 91‧‧‧ sloping plate

100‧‧‧Guide tools

101‧‧‧ concave guide surface

101g‧‧‧flat sloped surface

101h‧‧‧Interface

101i‧‧‧2nd side

101j‧‧‧1st side

101k‧‧‧Sloping slope

210‧‧‧Induction machine

220‧‧‧Industrial robot

221‧‧‧ computer

222‧‧‧ Arm

223‧‧‧Hands

AX1‧‧‧ plumb direction

D1‧‧‧1st direction

D2‧‧‧2nd direction

D3‧‧‧3rd direction

D4‧‧‧4th direction

H1‧‧‧1st height

H2‧‧‧2nd height

H3‧‧‧3rd height

L11, L12, L21, L22, L31, L32, L41, L42‧‧‧ rotating shaft

P1, P1’‧‧‧1st position

P2‧‧‧2nd position

W25‧‧‧Width

θ 1‧‧‧1st angle

θ 3‧‧‧ corner

1 is a schematic perspective view of a conveying device according to an embodiment of the present disclosure, which schematically shows that the conveyance is conveyed in the first direction by the first conveying device, and the conveyed conveyance is conveyed in the second direction by the second conveying device. The conveyance is conveyed in the third direction by the third conveyance device, and the conveyed object is conveyed in the fourth direction by the fourth conveyance device.

FIG. 2 is a schematic view showing orientations of the first conveyance belt of the first conveyance device and the second conveyance belt of the second conveyance device in the conveyance device according to the embodiment of the present disclosure. The conveying surface of the first conveyor belt is an inclined surface that rises upward toward the downstream side. The width direction of the conveyance surface of the second conveyor belt is inclined with respect to the vertical direction. The conveyance conveyed to the downstream side by the second conveyance device is stopped by the support tool on the conveyance surface of the second conveyance belt.

FIG. 3 is a schematic view showing respective orientations of the third conveyor belt of the third conveyor and the fourth conveyor belt of the fourth conveyor in the transport apparatus according to the embodiment of the present disclosure. The orientations of the first conveyor of the first conveyor and the second conveyor of the second conveyor are also shown. The conveying surface of the third conveyor belt is horizontally disposed perpendicular to the vertical direction. The conveying surface of the fourth conveyor belt is an inclined surface that rises upward toward the downstream side.

4 is a schematic plan view of the conveying device according to the non-limiting embodiment of the present invention, and schematically shows the hand grip of the front end of the arm of the robot based on the induction of the conveyed object conveyed by the third conveying device by the conveying device. The conveyance is held and supplied to another device (not shown).

FIG. 5 is a schematic view showing a conveyed object held by a hand at the tip end of the arm of the robot.

Fig. 6 is a schematic cross-sectional view along the dotted line AA of Fig. 4, showing a supporting tool provided between the first conveying device and the second conveying device with respect to the conveying surface of the second conveying belt of the second conveying device. The support surface of the first height is set at the first angle. Also indicated is the concave guide surface of the guiding tool.

Fig. 7 is a schematic cross-sectional view along the one-point chain line BB of Fig. 4, showing a supporting tool provided between the first conveying device and the second conveying device with respect to the conveying surface of the second conveying belt of the second conveying device. The support surface of the second height is set at the first angle. In addition, the inclined surface that is inclined downward toward the first conveyor belt side from the second conveyor belt side is provided, thereby providing a movement path for moving the conveyed object in an abnormal posture from the second conveyor belt to the first conveyor belt.

FIG. 8 is a schematic cross-sectional view along the one-dot chain line CC of FIG. 4, showing the transport surface 25j of the second transport belt 25 with respect to the second transport device 20, between the first transport device and the second transport device. The support surface 51 of the third height H3 of the support tool is provided at a first angle. In addition, the inclined surface that is inclined downward toward the first conveyor belt side from the second conveyor belt side is provided, thereby providing a movement path for moving the conveyed object in an abnormal posture from the second conveyor belt to the first conveyor belt.

FIG. 9 is a schematic partial enlarged view showing the support surface 51 of the third height H3 of FIG. 8 .

Fig. 10 is a schematic cross-sectional view along the dotted line D-D of Fig. 4, showing a bridge member provided between the second conveyor and the third conveyor, and an inclined surface is provided on the bridge member.

Fig. 11 is a schematic cross-sectional view along the one-dot chain line E-E of Fig. 4, showing a schematic cross section of the guiding tool.

Fig. 12 is a schematic cross-sectional view along the one-point chain line F-F of Fig. 6 showing a schematic cross section of the guiding tool.

Fig. 13 is a schematic cross-sectional view along the one-dot chain line G-G of Fig. 6 showing a schematic cross section of the guiding tool.

Fig. 14 is a schematic view showing a conveyed object that moves on a guide surface of a guiding tool.

FIG. 15 is a schematic view showing the operation of the conveying device according to the embodiment of the present invention, in which the first rectifying member restricts the flow of the conveyed material on the first conveying device, and conveys the conveyed material to the downstream side. The flow is correspondingly close to the second conveying device. The second rectifying member disposed on the upstream side of the first rectifying member restricts the flow of the conveyed material on the first conveying device, and causes the conveyed object to flow away from the second conveying device in correspondence with being conveyed to the downstream side. . When the first rectifying member and the second rectifying member are coordinated, the conveyed objects are arranged along the first rectifying member toward the downstream end thereof, and a small amount of the object, for example, one or two conveyed objects, is conveyed in accordance with the conveyance of the first conveying belt, and The first conveyor belt of the first conveyor is dropped.

16(a) to 16(b) are schematic diagrams showing the operation of the conveying device according to the embodiment of the present disclosure. Fig. 16 (a) shows that the conveyance in the abnormal posture is supported by the support surface of the support tool and/or the support portion of the first height. Fig. 16 (b) shows that the conveyance in the abnormal posture is not supported by the support surface of the support tool and/or the second height of the support portion (that is, released from the support tool), and is moved by the inclined surface and by the self-weight and/or inertial force. Go to the first conveyor.

17(a) to 17(c) are schematic diagrams showing the operation of the conveying device according to the embodiment of the present disclosure. Fig. 17 (a) shows that the conveyance in the abnormal posture is supported by the support surface of the support tool and/or the support portion at the first height and the first angle. Fig. 17 (b) shows that the conveyance in the abnormal posture is supported by the support surface of the support tool and/or the support portion at the second height and the first angle. Fig. 17 (c) shows that the conveyance in the abnormal posture is not supported by the support surface of the support tool and/or the third height of the support portion (that is, released from the support of the support tool and/or the support portion), and is used via the inclined surface. The own weight and/or inertial force is moved to the first conveyor.

18(a) to 18(d) are schematic diagrams showing the operation of the conveying device according to the embodiment of the present disclosure. Fig. 18 (a) shows that the conveyance in an appropriate posture is supported by the support surface of the support tool and/or the support portion at the first height and the first angle. Fig. 18 (b) shows that the conveyance in an appropriate posture is supported by the support surface of the support tool and/or the support portion at the second height and the first angle. Fig. 18 (c) shows that the conveyance in an appropriate posture is supported by the support surface of the support tool and/or the support portion at the third height and the first angle. (d) of FIG. 18 shows that the conveyed object in an appropriate posture is moved to the inclined surface which is gradually inclined by the bridge member provided between the second conveyance device and the third conveyance device, and is moved to the self-weight and/or inertial force to The third conveyor belt.

FIG. 19 is a schematic plan view of the conveying device according to another embodiment of the present disclosure, and shows a configuration in which the third conveying device and the fourth conveying device are omitted.

FIG. 20 is a schematic plan view of the conveying device according to another embodiment of the present disclosure, and shows a configuration in which the first conveying device is omitted except that the third conveying device and the fourth conveying device are omitted.

Hereinafter, a non-limiting embodiment of the present invention will be described with reference to Figs. 1 to 20 . The one or more embodiments disclosed and the features included in the embodiments are not independent. Those skilled in the art will be able to combine various embodiments and/or features without undue description. In addition, those skilled in the art can also understand the synergistic effect brought about by the combination. Repeated descriptions of the embodiments will be omitted in principle. The reference drawings are based on the description of the invention, and are omitted for convenience of drawing.

A plurality of features that are described in connection with one device or method are understood in the form of individual features that are independent of other features, in addition to being understood in the form of a combination of features. Individual features are understood to be not limited to one device or method disclosed, and are also common in other devices or methods not disclosed. Individual features are also understood in the form of combinations with one or more other features. All combinations of enumerated features are lengthy to those skilled in the art and are therefore omitted. Individual features in this specification are made using "in some embodiments", "in some cases", "in some instances" Expressions in the sub-" are expressly distinguished from other narratives.

1 is a schematic perspective view of the conveying device 6, and schematically shows that the first conveying device 10 conveys a conveyed object (not shown) in the first direction D1, and conveys the conveyance in the second direction D2 by the second conveying device 20 The conveyance is conveyed in the third direction D3 by the third conveyance device 30, and the conveyed object is conveyed in the fourth direction D4 by the fourth conveyance device 40. FIG. 2 is a schematic view showing the respective orientations of the first conveyor belt 15 of the first conveyor 10 and the second conveyor belt 25 of the second conveyor 20 in the conveying device 6. The conveying surface 15j of the first conveyor belt 15 is an inclined surface that rises upward toward the downstream side. The width direction of the conveying surface 25j of the second conveyor belt 25 is inclined with respect to the vertical direction AX1. The conveyance conveyed to the downstream side by the second conveyance device 20 is stopped by the support tool 50 shown in FIG. 1 on the conveyance surface 25j of the second conveyance belt 25. FIG. 3 is a schematic view showing respective orientations of the third conveyor belt 35 of the third conveyor 30 of the transport device 6 and the fourth conveyor belt 45 of the fourth conveyor device 40. The respective orientations of the first conveyor belt 15 of the first conveyor 10 and the second conveyor belt 25 of the second conveyor 20 are also shown. The conveying surface 35j of the third conveyor belt 35 is horizontally disposed orthogonal to the vertical direction AX1. The conveying surface 45j of the fourth conveyor belt 45 is an inclined surface that rises upward toward the downstream side.

The first conveyor 10 has an annular first conveyor belt 15 and conveys the conveyed material 5 placed on the conveying surface of the first conveyor belt 15 in the first direction (D1). The second transport device 20 has an annular second transport belt 25 and transports the transported object 5 placed on the transport surface of the second transport belt 25 in the second direction D2 different from the first direction D1. The third transport device 30 has an annular third transport belt 35 in the first direction and the second direction. The conveyance 5 placed on the conveyance surface of the third conveyance belt 35 is conveyed in the third direction D3 in which the directions D1 and D2 are different. The fourth transport device 40 has a fourth transport belt 45 that is annular, and transports the transported object 5 placed on the transport surface of the fourth transport belt 45 in the fourth direction D4 that is different from the first direction D1 to the third direction D3. .

In the first conveying device 10, the conveyed material conveyed to the downstream side is supplied to the upstream side of the second conveying device 20. In the second transport device 20, the transported material that has been transported to the downstream side is supplied to the upstream side of the third transport device 30. In the third transport device 30, the transported material that has been transported to the downstream side is supplied to the upstream side of the fourth transport device 40. In the fourth transport device 40, the transported material that has been transported to the downstream side is supplied to the upstream side of the first transport device 10. Further, the number of the transport devices included in the transport device 6 is an arbitrary natural number of 2 or more, and is not limited to four as shown in the example. The conveying device 6 may include a conveying mechanism other than the conveying device. In some cases, the movement of the conveyor between the conveyors can be achieved by the weight and/or inertia of the conveyor. In some cases, a plurality of conveying devices are used, and in the illustrated example, the first conveying device 10 to the fourth conveying device 40 are used to construct a circulation path of the conveyed objects.

The first direction D1 in which the conveyance is conveyed by the first conveyance device 10 and the second direction D2 in which the conveyance is conveyed by the second conveyance device 20 are opposite directions. The third direction D3 in which the conveyance is conveyed by the third conveyance device 30 and the fourth direction D4 in which the conveyance is conveyed by the fourth conveyance device 40 are opposite directions. Thus, in some cases, a combination of conveying devices having opposite conveying directions can be used.

The downstream end of the first conveying device 10 is formed at the lowermost portion of the conveying surface 25j of the second conveying belt 25 in the upstream end portion 20f of the second conveying device 20 The conveying surface 15j of the first conveyor belt 15 in 10 g is positioned above the vertical direction AX1. The transport surface 35j of the third transport belt 35 in the downstream end portion 30g of the third transport device 30 is positioned in comparison with the transport surface 45j of the fourth transport belt 45 in the upstream end portion 40f of the fourth transport device 40. Above the vertical direction AX1. Thus, in some cases, in the combination of the conveying devices having the opposite conveying directions, in the vertical direction AX1, compared to the conveying belt (or the lowermost portion thereof) in the upstream side end portion of the other conveying device, The conveying surface (or the lowermost portion thereof) of the conveying belt in the downstream side end portion of one conveying device is positioned above. The movement of the conveyances between the conveyance devices can be achieved by the weight and/or inertia of the conveyed objects.

The transport surface 25j of the second transport belt 25 in the downstream end portion 20g of the second transport device 20 is disposed on the transport surface 35j of the third transport belt 35 in the upstream end portion 30f of the third transport device 30. The lowermost portion is positioned above the vertical direction AX1. The conveying surface 45j of the fourth conveying belt 45 in the downstream end portion 40g of the fourth conveying device 40 is positioned in comparison with the conveying surface 15j of the first conveying belt 15 in the upstream end portion 10f of the first conveying device 10 Above the vertical direction AX1. In some cases, in the combination of the conveying devices orthogonal to the conveying direction, in the vertical direction AX1, compared to the conveying belt (or the lowermost portion thereof) in the upstream end portion of the other conveying device, The conveying surface (or the lowermost portion thereof) of the conveying belt in the downstream side end portion of one of the conveying devices is positioned above. The movement of the conveyances between the conveyance devices can be achieved by the weight and/or inertia of the conveyed objects.

Each of the conveying devices 10 to 40 has, in some cases, at least one pair of rollers wound around the respective conveyor belts. One of the pair of rollers may be a drive roller and the other may be a driven roller. It is also conceivable that two rolls are driven rolls and another form of drive rolls is provided. The first roller on the upstream side of the first conveyor 10 rotates around the rotation axis L11, and the second roller on the downstream side of the first conveyor 10 rotates around the rotation axis L12. The first roller on the upstream side of the second conveyor 20 rotates around the rotation axis L21, and the second roller on the downstream side of the second conveyor 20 rotates around the rotation axis L22. The first roller on the upstream side of the third conveyor 30 rotates around the rotation axis L31, and the second roller on the downstream side of the third conveyor 30 rotates around the rotation axis L32. The first roller on the upstream side of the fourth conveyor 40 rotates around the rotation axis L41, and the second roller on the downstream side of the fourth conveyor 40 rotates around the rotation axis L42.

In the vertical direction AX1, the second roller on the downstream side is positioned higher than the first roller on the upstream side of the first conveyor 10. Therefore, the conveying surface 15j of the first conveying belt 15 of the first conveying device 10 is an inclined surface that rises upward toward the downstream side. The first roller and the second roller on the upstream side and the downstream side of the second conveyor 20 are inclined with respect to the vertical direction AX1. Therefore, the first roller and the second roller on the upstream side and the downstream side of the second conveyor 20 are non-parallel and non-perpendicular to the vertical direction AX1, respectively. Therefore, the width direction of the conveying surface 25j of the second conveyor belt 25 is inclined with respect to the vertical direction AX1. Therefore, the width direction of the conveying surface 25j of the second conveyor belt 25 is non-parallel and non-perpendicular to the vertical direction AX1. The width W25 of the second conveyor belt 25 is fixed along the annular length of the second conveyor belt 25. The width direction of the transport surface 25j of the second transport belt 25 is a direction parallel to the transport surface 25j of the second transport belt 25 and orthogonal to the direction in which the transport object is transported by the second transport device 20.

The first roller and the second roller phase on the upstream side and the downstream side of the third conveyor 30 The vertical direction AX1 is arranged horizontally orthogonally. Therefore, the conveying surface 35j of the third conveyor belt 35 is horizontally disposed orthogonal to the vertical direction AX1. In the vertical direction AX1, the second roller on the downstream side is positioned higher than the first roller on the upstream side of the fourth conveying device 40. Therefore, the conveying surface 45j of the fourth conveyor belt 45 is an inclined surface that rises upward toward the downstream side.

When the conveyance is conveyed to the downstream side in the first conveyance device 10, the conveyance 5 is aligned toward the downstream end of the first rectifying member 71 by the coordination of the first rectifying member 71 and the second rectifying member 72, and is first The conveyance belt 15 is transported in response to a small amount of the conveyance 5, for example, one or two conveyances 5, and is dropped from the first conveyance belt 15 of the first conveyance device 10. The dropped conveyance 5 is placed on the second conveyance belt 25 of the second conveyance device 20 via the guide tool 100 or without the guide tool 100.

In some embodiments, the conveyance 5 conveyed to the downstream side by the second conveyance device 20 is supported by the support tool 50 and stays on the conveyance surface of the second conveyance belt 25. The support tool 50 is configured to support the transport object 5 in an abnormal posture (referred to as a first posture) to the first positions P1 and P1′, and to support the transport object 5 in an appropriate posture (referred to as a second posture) different from the abnormal posture. The second position P2 on the downstream side is closer to the first position P1 and P1'. The conveyance 5 of the proper posture is supported by the support tool 50 on the conveyance surface of the second conveyance belt 25 beyond the first position P1, P1' to the second position P2. When the first position P1, P1' is released from the support tool 50, the conveyance 5 of the abnormal posture moves from the second conveyance belt 25 to the first conveyance belt 15 at least by its own weight and/or its inertial force. Thereby, the conveyance which has a different posture in the sorting conveyance process is promoted. in In some cases, the support tool 50 terminates at the second position P2. In some cases, the support tool 50 does not terminate at the second position P2.

The conveyance 5 can be any of various tangible objects of the same kind. The conveyance 5 has a three-dimensional shape in some cases. In some cases, the conveyor 5 may be a constituent part of the zipper. For example, the conveyance 5 may be a slider for a slide fastener, a pull tab, or other components. When the conveyance 5 is a slider for a slide fastener, the conveyance 5 can be any slider of any of various shapes or types of the same kind. The slider may include an upper blade, a lower blade, and a connecting post that connects the upper blade and the lower blade, but is not limited thereto.

4 is a schematic plan view of the transport device 6 and schematically shows the hand 223 held by the front end of the arm 222 of the industrial robot 220 based on the induction of the transport object 5 transported by the third transport device 30 by the transport device 6. The conveyance 5 is held and supplied to another device (not shown). FIG. 5 is a schematic view showing the conveyance 5 held by the hand 223 at the tip end of the arm 222 of the industrial robot 220. The conveyance 5 placed on the third conveyor belt 35 is sensed by the induction device 210 while being conveyed to the downstream side. The induction machine 210 acquires sensing information based on the conveyance 5 this time. Next, the sensing information is transmitted from the induction machine 210 to the computer 221 of the industrial robot 220. The computer 221 controls the arm 222 and the hand 223 based on the received sensing information to properly hold the sensed conveyance 5. For example, the computer 221 processes the received sensing information, and obtains the posture information of the conveyed object 5 that is currently held. Next, the computer 221 controls the arm 222 and the hand 223 based on the determined posture information to appropriately hold the sensed conveyance 5. Posture information can be based on the transport 5 The orientation or the specific portion of the conveyor 5, such as the orientation of the tab mounting post, is determined. The conveyed object 5 held by the hand 223 is transported to another device (not shown). In the example of the drawing, the conveyance 5 is a slider for a slide fastener, and the conveyance 5 is conveyed by the industrial robot 220 to another apparatus, such as a handle attachment apparatus and a zipper assembly apparatus.

The inductive machine 210 can be any inductive machine such as an image acquisition device or a line sensor. The industrial robot 220 may be a robot controlled by a computer. The computer 221 can include a central processing unit (CPU), a memory, an input/output (I/O) interface, a communication interface, a communication bus, an input device such as a touch screen, and a display device. Arm 222 can have one or more joints. The arm 222 is rotatable about one or more axes of rotation. The hand 223 may have a pair of grip pieces for holding the conveyance 5 .

The industrial robot 220 is configured to control the arm 222 and the hand 223 based on the sensing information provided by the induction device 210 to appropriately hold the conveyed object 5. The industrial robot 220 is also configured not to hold the posture in which the posture is not suitable for the grip of the hand 223 or the conveyance 5 that cannot be gripped by the hand 223. When the posture information cannot be determined or the determined posture information does not satisfy the predetermined criterion, the industrial robot 220 disadvantageously holds the conveyance 5 by the hand 223.

The unloaded conveyance 5 moves from the third conveyance belt 35 to the fourth conveyance belt 45 via the inclined plate 90. It is also assumed that the conveyance 5 is dropped from the third conveyance belt 35 onto the fourth conveyance belt 45 without using the inclined plate 90. The conveyance 5 conveyed to the downstream side by the fourth conveyance device 40 is moved from the fourth conveyance belt 45 to the first conveyance belt 15 via the inclined plate 91. I also envisage moving without using a sloping plate. The object 5 is dropped from the fourth conveyor belt 45 onto the first conveyor belt 15. The circulation of the conveyed material 5 is constructed by the first to fourth conveying devices 10 to 40 as described above. Further, the circulation of the conveyed material 5 formed by the plurality of conveying devices can be achieved by using a number of conveying devices different from those of the illustrated example, or by using a conveying device that orients the conveying belt differently from the example of the drawing. Or it can be achieved using an additional member other than the example of the figure.

The configuration and/or functionality of the support tool 50 will be described with reference to Figs. 6 to 10 . FIG. 6 is a schematic cross-sectional view along the one-point chain line AA of FIG. 4, and shows the first transport device 10 and the second transport device 20 with respect to the transport surface 25j of the second transport belt 25 of the second transport device 20. The support surface 51 of the first height H1 of the support tool 50 is provided at a first angle θ1. Also shown is the concave guide surface 101 of the guiding tool 100. FIG. 7 is a schematic cross-sectional view along the one-point chain line BB of FIG. 4, and shows the first transport device 10 and the second transport device 20 with respect to the transport surface 25j of the second transport belt 25 of the second transport device 20. The support surface 51 of the second height H2 of the support tool 50 is provided at a first angle θ1. In addition, the inclined surface 53 that is inclined downward from the second conveyor belt 25 side toward the first conveyor belt 15 side is provided, thereby providing the conveyance 5 for moving the abnormal posture from the second conveyor belt 25 to the first conveyor belt 15 On the moving road. FIG. 8 is a schematic cross-sectional view along the one-point chain line CC of FIG. 4, and shows the first transport device 10 and the second transport device 20 with respect to the transport surface 25j of the second transport belt 25 of the second transport device 20. The support surface 51 of the third height H3 of the support tool 50 is provided at a first angle θ1. Also, the inclined surface 53 which is inclined downward toward the first conveyor belt 15 side from the second conveyor belt 25 side is provided to provide an abnormality. The conveyed object 5 in the posture moves from the second conveyor belt 25 to the movement path on the first conveyor belt 15. FIG. 9 is a schematic partial enlarged view showing the support surface 51 of the third height H3 of FIG. 8 . FIG. 10 is a schematic cross-sectional view along the one-dot chain line D-D of FIG. 4, showing that the bridge member 60 is provided between the second conveyor 20 and the third conveyor 30, and the inclined surface 61 is provided on the bridge member 60.

As described above, the conveyed material 5 dropped from the conveying surface 15j of the first conveying belt 15 of the first conveying device 10 passes through the guiding tool 100 or the second conveying belt placed on the second conveying device 20 without passing through the guiding tool 100. 25 on the transfer surface 25j. In some cases, the guiding tool 100 is provided for the connection between the conveying surface 15j of the first conveyor belt 15 and the conveying surface 25j of the second conveyor belt 25. The guiding tool 100 has a surface that extends between the conveying surface 15j of the first conveyor belt 15 and the conveying surface 25j of the second conveyor belt 25. In some cases, the guiding tool 100 has a concave guide surface 101 having continuity with the conveying surface of the first conveyor belt 15, for example, at least partially curved. The conveyed object 5 dropped from the conveyance surface 15j of the first conveyance belt 15 is slid on the concave guide surface 101 which is at least partially curved, and is placed on the conveyance surface 25j of the second conveyance belt 25.

As described above, the width direction of the conveying surface 25j of the second conveyor belt 25 is inclined with respect to the vertical direction AX1. The angle θ3 formed by the width direction of the conveying surface 25j and the vertical direction AX1 is, for example, 20° to 80°, or 30° to 80°, or 20° to 70°, or 30° to 70°. The conveyance 5 placed on the conveyance surface 25j of the second conveyance belt 25 is placed at the end of the second conveyance belt 25 below the vertical direction AX1 by its own weight.

In some embodiments, the support tool 50 has a support surface 51 that extends in a direction in which the transport object 5 is transported by the second transport device 20 in order to support the transport object 5 . In some cases, the height of the support surface 51 with respect to the conveyance surface of the second conveyance belt 25 is lower on the downstream side than the upstream side in the direction in which the conveyance 5 is conveyed by the second conveyance device 20. The selection of the posture of the conveyed object 5 is promoted by the change in the height of the support surface 51. In some cases including the example of the drawing, the support surface 51 has a first height H1 with respect to the transport surface of the second transport belt 25 on the upstream side in the direction in which the transport object 5 is transported by the second transport device 20, and the second transport is used. The downstream side of the apparatus 20 in which the conveyance 5 is conveyed has a second height H2 which is lower than the first height H1 with respect to the conveyance surface of the second conveyance belt 25. In some cases including the example of the drawing, the support surface 51 further has a third height H3 that is lower than the second height H2. As indicated by the first height, the second height, and the third height, the height of the support surface 51 changes stepwise, or the height of the support surface 51 continuously changes between the first height and the third height. The support surface 51 may have a height different from the fourth height and the fifth height.

In some cases, the support surface 51 of the support tool 50 is a surface that intersects perpendicularly with respect to the conveyance surface 25j of the second conveyance belt 25, and extends in the second direction D2 in which the conveyance 5 is conveyed by the second conveyance device 20. Face. The first angle θ1 of the angle formed by the support surface 51 and the transport surface 25j of the second transport belt 25 of the second transport device 20 is 90°, or between 80° and 100°, or between 70° and 110°. between.

In some cases, the support surface 51 is set to a height that can support the conveyed object that is supplied from the first transport device 10 and that is dropped from the first transport device 10 in all postures. In other words, the support surface 51 of the first height H1 is supported by the first conveying device 10 The conveyed object of all postures dropped from the first conveying device 10 is given. In some cases including the example of the drawing, the support surface 51 of the first height H1 extends to the conveying surface 15j of the first conveyor belt 15, and the gap between the first conveyor 10 and the second conveyor 20 is filled. The conveyance 5 that has fallen from the conveyance surface 15j of the first conveyance belt 15 is not dropped into the gap between the first conveyance device 10 and the second conveyance device 20, and is supplied to the conveyance surface 25j of the second conveyance belt 25. The support surface 51 of the first height H1 is not necessarily limited thereto, and may be a caulking surface that fills a gap between the first transport device 10 and the second transport device 20.

In some cases, the support tool 50 has a support portion 55 disposed on the transport surface 25j of the second conveyor belt 25, and the support surface 51 is provided on the support portion 55. The support portion 55 and the support surface 51 are disposed on the transfer surface 25j of the second transfer belt 25. The support surface 51 is positioned between both ends of the second conveyor belt 25 in the width direction. The supply of the conveyed material 5 to the conveyance surface 25j of the second conveyance belt 25 can be reliably performed.

The support surface 51 of the second height H2 cannot support the conveyance 5 of one or more abnormal postures supported by the support surface 51 of the first height H1. As a result, the conveyance 5 of the abnormal posture released from the support surface 51 of the second height H2 is moved from the conveyance surface 25j of the second conveyance belt 25 to the conveyance of the first conveyance belt 15 by the own weight and/or inertia force. On the face 15j. In some cases, an inclined surface 53 that is inclined downward from the second conveyor belt 25 side toward the first conveyor belt 15 side is provided. The inclined surface 53 provides a movement path for moving the conveyed material 5 from the second conveyance belt 25 to the first conveyance belt 15 . The inclined surface 53 is provided in the support tool 50 in one example, and is provided in a member or part other than the support tool 50 in another example.

The support surface 51 of the third height H3 cannot support the conveyance 5 of one or more abnormal postures supported by the support surface 51 of the second height H2. As a result, the conveyance 5 of the abnormal posture released from the support of the support surface 51 of the third height H3 is moved from the conveyance surface 25j of the second conveyance belt 25 to the conveyance of the first conveyance belt 15 by the own weight and/or inertia force. On the face 15j.

In some cases, the support tool 50 and/or the support portion 55 have a retraction surface 52 that extends in a direction in which the conveyance 5 is conveyed by the second conveyance device 20 and forms an acute angle with the support surface 51. The evacuation surface 52 is a surface for retracting the conveyed object 5 in an abnormal posture, and reduces interference between the support tool 50 or the support portion 55 and the conveyed object 5. The support tool 50 and/or the support portion 55 are weakened by the support surface 50 due to the evacuation surface 52, and the support 5 and/or the support portion 55 are no longer supported by the support tool 50 and the support portion 55 to support the conveyance 5 in an abnormal posture. In some cases, although the size of the conveyed object 5 is small, the case where the conveyed object 5 is not supported by the evacuation surface 52 becomes more certain. When the conveyance 5 is a slider, the small-sized slider that does not support the abnormal posture by the support portion 55 is urged by the retracting surface 52 (this aspect can be referred to FIGS. 17( a ) to 17 ( c ). Good understanding).

In some cases, the support portion 55 includes a portion having a triangular cross-sectional shape. By forming an acute angle with the relief surface 52 by the support surface 51, the cross-sectional triangular shape of the support part 55 can be formed. The angle formed by the support surface 51 and the evacuation surface 52 can be appropriately determined depending on the type or size of the conveyed object 5. In some cases, the support portion 55 may have a step portion 59 on the downstream side to remove the conveyance 5 which may be an accidental abnormal posture, compared to the support surface 51 of the third height H3.

The conveyance 5 of the proper posture reaches the end of the support of the support tool 50. At the time of the release, the support from the support tool 50 is released, and is moved from the transport surface 25j of the second transport belt 25 to the transport surface 25j of the second transport belt 25 via the inclined surface 61 of the bridge member 60 provided between the second transport device 20 and the third transport device 30. The transport surface 35j of the third conveyor belt 35 is placed on the transport surface 35j. The inclined surface 61 of the bridge member 60 is gradually inclined, thereby suppressing a change in the posture of the conveyed object 5 when the conveyed object 5 is directed downward along the inclined surface. The conveyance 5 in an appropriate posture may be one or more than two or more postures that can be used for the conveyance 5 .

The operation of the guiding tool 100 will be described with reference to Figs. 11 to 13 . Fig. 11 is a schematic cross-sectional view along the one-dot chain line E-E of Fig. 4, showing a schematic cross section of the guiding tool. Fig. 12 is a schematic cross-sectional view along the one-point chain line F-F of Fig. 6 showing a schematic cross section of the guiding tool. Fig. 13 is a schematic cross-sectional view along the one-dot chain line G-G of Fig. 6 showing a schematic cross section of the guiding tool.

In some cases, the guiding tool 100 has a concave guiding surface 101 that is at least partially curved. As shown in FIG. 11, the concave guide surface 101 which is at least partially curved may have a first side surface 101j, an intermediate surface 101h joined to the first side surface 101j, and a second surface 101h joined to the first side surface 101j via the intermediate surface 101h. The side surface 101i serves as a guide surface. The first side surface 101j is a surface that extends from the conveying surface 15j of the first conveyor belt 15 to the intermediate surface 101h, and extends in a direction orthogonal to the conveying surface 25j of the second conveyor belt 25. The second side surface 101i extends in a direction parallel to the conveying surface 25j of the second conveyor belt 25.

As can be seen from FIG. 12 and FIG. 13 , the second side surface 101 i is not a simple flat surface that extends in parallel with the conveying surface 25 j of the second conveyor belt 25 . The second side surface 101i includes a portion extending in a direction in which the transport object 5 is transported by the second transport device 20 The arc-shaped inclined surface 101k that is gradually approaching the transport surface 25j of the second transport belt 25 is included in the direction in which the transport object 5 is transported by the second transport device 20 as compared with the curved inclined surface 101k. The flat inclined surface 101g on the downstream side is further. In some cases, the degree of inclination of the arc-shaped inclined surface 101k of the second side surface 101i changes in the width direction of the second conveyor belt 25. The degree of inclination of the arcuate inclined surface 101k of Fig. 12 is greater than that of the arcuate inclined surface 101k of Fig. 13. In some cases, the faces 101j, 101h, 101i, 101k form part of a conical profile. The first side surface 101j can be gradually moved away from the first conveying device 10 in accordance with the upstream side in the direction in which the second conveyor belt 25 conveys the conveyed material 5 in the upstream direction.

The conveyance 5 that has fallen from the conveyance surface 15j of the first conveyance belt 15 slides downward along the first side surface 101j toward the intermediate surface 101h, and is supplied to the second side surface 101i via the intermediate surface 101h. The conveyed object 5 corresponds to the movement on the second side surface 101i, and the arc-shaped inclined surface 101k shown in Figs. 12 and 13 is then downward on the flat inclined surface 101g. Then, the conveyed material 5 is supplied to the conveyance surface 25j of the second conveyance belt 25. The conveyance 5 holds the inertial force obtained when it slides down on the first side surface 101j, and can acquire the movement locus of the second side surface 101i downward and away from the first side surface 101j. In other words, the conveyance 5 can be operated along a composite vector of a vector that is away from the first side surface 101j and a vector that is downward on the second side surface 101i. As shown by the arrow in FIG. 14, the conveyance 5 can be moved on the guide surface of the guiding tool 100.

The concave guide surface 101 may be composed of one or more faces of other face shapes. It is also assumed that the first side surface 101j is not provided on the concave guide surface 101, that is, the first side surface 101j is omitted. In some cases, the guiding tool 100 has only The direction in which the conveyance 5 is conveyed by the second conveyance device 20 is extended so as to gradually approach the flat inclined surface of the conveyance surface 25j of the second conveyance belt 25.

The operation of the transport device 6 will be described with reference to Figs. 15 to 18(a) to 18(d). FIG. 15 is a schematic view showing the operation of the transport device 6 and the first rectifying member 71 restricts the flow of the transporting material 5 on the first transporting device 10, and the transported object 5 is transported to the downstream side. It flows in a manner close to the second conveying device 20. The second rectifying member 72 disposed on the upstream side of the first rectifying member 71 restricts the flow of the conveyed material 5 on the first conveying device 10, and moves the conveyed material 5 away from the downstream side. 2 The conveying device 20 flows in a manner. By the coordination of the first flow regulating member 71 and the second flow regulating member 72, the conveyed objects 5 are arranged along the first flow regulating member 71 toward the downstream end thereof, and correspond to the conveyance of the first conveyor belt 15 to transport the object 5 in a small amount, for example, one or The two conveyed objects 5 are simultaneously dropped from the first conveyance belt 15 of the first conveying device 10.

As can be seen from FIG. 15 and FIG. 1 and FIG. 3, the first rectifying member 71 and the second rectifying member 72 are used to convey the object on the first conveying device 10 in some cases. The flow is rectified. The second rectifying member 72 disposed on the upstream side of the first rectifying member 71 causes the conveying member 5 to flow in a direction away from the second conveying device 20 in correspondence with being conveyed to the downstream side. The first rectifying member 71 disposed on the downstream side of the second rectifying member 72 flows so that the conveying member 5 approaches the second conveying device 20 in correspondence with being conveyed to the downstream side.

In some cases, the second rectifying member 72 has a side to be downstream One or more curved or non-curved flat plates (or rectifying faces) extending correspondingly away from the second conveying device 20. The conveyance 5 that collides with the flat plate (or the rectifying surface) of the second rectifying member 72 is conveyed along the flat plate (or the rectifying surface) of the second rectifying member 72 in the downstream direction and away from the second conveying device 20 . In some cases, the first rectifying member 71 has a flat plate (or a rectifying surface) that is bent or not bent at one or more places that extend toward the second conveying device 20 in correspondence with the downstream side. The conveyance 5 that collides with the flat plate (or the rectifying surface) of the first rectifying member 71 is conveyed along the flat plate (or the rectifying surface) of the first rectifying member 71 toward the downstream side and in the direction close to the second conveying device 20.

As described above, as a result of the rectification of the conveyances 5 by the respective rectifying members 71 and 72, the conveyed objects 5 are arranged along the flat plate of the first rectifying member 71, for example, one by one or two in small order from the first The downstream end portion of the flow regulating member 71 is dropped from the conveying surface 15j of the first conveying belt 15 onto the conveying surface 25j of the guiding tool 100 or the second conveying belt 25. The conveyance 5 slides down on the concave guide surface 101 of the guide tool 100, and is placed on the conveyance surface 25j of the second conveyance belt 25, and is supported by the support surface 51 of the first height H1 of the support tool 50. The conveyance 5 slides on the support surface 51 of the first height H1, and is placed on the conveyance surface 25j of the second conveyance belt 25, and is supported by the support surface 51 of the first height H1.

In addition, as shown in FIG. 1 , the first conveying device 10 includes a third flow regulating member 73 that restricts the flow path of the conveyed material 5 between the second flow regulating member 72 and the second flow regulating member 72 . The first transport device 10 is also conceivable as an example constructed in a completely different manner from the illustrated example.

16(a) to 16(b) are schematic diagrams showing the operation of the transport device 6. Figure. Fig. 16 (a) shows that the conveyance 5 in the abnormal posture is supported by the support surface 51 of the support tool 50 and/or the support portion 55 at the first height H1. 16(b) shows that the conveyance 5 in the abnormal posture is not supported by the support surface 51 of the support tool 50 and/or the second height H2 of the support portion 55 (that is, released from the support of the support tool 50 and/or the support portion 55). Then, it is moved to the first conveyor belt 15 by the inclined surface 53 and by its own weight and/or inertia force.

The conveyance 5 of the abnormal posture shown as an example shown in FIGS. 16( a ) to 16 ( b ) is not supported by the support surface 51 of the second height H2 . Therefore, the conveyance 5 is released from the support surface 51 of the second height H2 according to the own weight and/or the inertial force of the conveyance 5, and passes over the support surface 51 of the second height H2. Then, the conveyed object 5 moves downward on the inclined surface 53 to the conveyance surface 15j of the 1st conveyance belt 15. The amount of decrease in the height of the support surface 51 can be determined in consideration of an abnormal posture that can be obtained by the conveyed object 5. The conveyance 5 of the abnormal posture shown in an example shown in FIGS. 16(a) to 16(b) is a slider for a slide fastener, and the lower surface of the lower blade is placed on the support surface 51.

17(a) to 17(c) are schematic diagrams showing the operation of the transport device 6. Fig. 17 (a) shows that the conveyance 5 in the abnormal posture is supported by the support surface 51 of the support tool 50 and/or the support portion 55 at the first height H1 and the first angle θ1. 17(b) shows that the conveyance 5 in the abnormal posture is supported by the support surface 51 of the support tool 50 and/or the support portion 55 at the second height H2 and the first angle θ1. 17(c) shows that the conveyance 5 in the abnormal posture is not supported by the support surface 51 of the support tool 50 and/or the third height H3 of the support portion 55 (that is, released from the support of the support tool 50 and/or the support portion 55). Then, it is moved to the first conveyor belt 15 by the inclined surface 53 and by its own weight and/or inertia force.

An example of the transport of the abnormal posture shown in Figs. 17(a) to 17(c) 5 is not supported by the support surface 51 of the third height H3. Therefore, the conveyance 5 passes over the support surface 51 of the third height H3 and is inclined downward on the inclined surface 53 in accordance with the weight and/or the inertial force of the conveyed object 5. The roll of the conveyance 5, that is, roll-off, is promoted by the evacuation surface 52. As a result, the conveyed object 5 moves to the conveyance surface 15j of the 1st conveyance belt 15. The conveyance 5 of the abnormal posture shown in the example shown in FIGS. 17(a) to 17(c) is a slider for a slide fastener, and the handle mounting post is placed on the conveyance surface 25j of the second conveyance belt 25.

18(a) to 18(d) are schematic views showing the operation of the transport device 6. Fig. 18 (a) shows that the conveyance 5 in an appropriate posture is supported by the support surface 51 of the support tool 50 and/or the support portion 55 at the first height H1 and the first angle θ1. FIG. 18(b) shows that the conveyance 5 in an appropriate posture is supported by the support surface 51 of the support tool 50 and/or the support portion 55 at the second height H2 and the first angle θ1. FIG. 18(c) shows that the conveyance 5 in an appropriate posture is supported by the support surface 51 of the support tool 50 and/or the support portion 55 at the third height H3 and the first angle θ1. (d) of FIG. 18 shows that the conveyed object 5 in an appropriate posture is moved to the inclined surface which is gradually inclined by the bridge member 60 provided between the second conveyance device 20 and the third conveyance device 30, and is moved to the self-weight and/or inertial force to The third conveyor belt 35 is on.

The conveyance 5 in an appropriate posture as an example shown in FIGS. 18(a) to 18(d) is supported by the support tool 50 to the second position P2. When the second position P2 is released from the support of the support tool 50, the conveyance 5 is placed downward on the inclined surface 61 of the bridge member 60 on the conveyance surface 35j of the third conveyance belt 35. As a result, as schematically shown in FIG. 3, the conveyed objects 5 are arranged at irregular intervals on the conveying surface 35j of the third conveyor belt 35. The industrial robot 220 facilitates the ease of identification and the reliability of grip.

In some cases, the support portion 55 ends on the upstream side of the downstream end of the second conveyor 20. Thereby, the movement of the conveyance 5 to the outside of the second conveying device 20 can be promoted.

The following transfer methods are explicitly proposed in FIGS. 1 to 18(a) to 18(d) and the related description.

The transport method includes the step of transporting the transport object 5 placed on the transport surface of the first transport belt 15 in the first direction D1 by the first transport device 10 having the first transport belt 15 having a ring shape; The second transport device 20 of the second transport belt 25 conveys the transported object 5 placed on the transport surface of the second transport belt 25 in the second direction D2 different from the first direction D1, and transports the second transport belt 25 a step of arranging the width direction of the surface to be inclined with respect to the vertical direction AX1; and supporting the conveyance 5 conveyed to the downstream side by the second conveyance device 20 by the support tool 50 to cause the conveyance 5 to stay on the second conveyance belt 25 The support tool 50 is configured to support the transport object 5 in the first posture to the first position, and to support the transport object 5 in the second posture different from the first posture to the downstream side of the first position. When the first position of the conveyance 5 in the first position is released from the support of the support tool 50 at the first position, the conveyance 5 is moved from the second conveyance belt 25 to the first conveyance belt by at least its own weight and/or its inertial force. 15 on.

One or more features described for the transport device 6 are still common to this transport method. If it is stated for the sake of prudence, the transfer method is in some cases. In addition, the first rectifying member 71 is used to rectify the flow of the conveyance 5 so as to be close to the second conveyance device 20 in response to the conveyance 5 being conveyed to the downstream side by the first conveyance device 10. step. In some cases, the transporting method further includes using the second rectifying member 72 disposed on the upstream side of the first rectifying member 71 in the first transporting device 10 to transport the object with the first transporting device 10 (5) The step of rectifying the flow of the conveyed material 5 so as to be conveyed to the downstream side corresponding to the second conveying device 20. In some cases, the conveying method further includes a step of guiding the conveyed material 5 dropped from the downstream side of the first conveying device 10 to the second conveying belt 25 by using the guiding tool 100. In some cases, the third transport device 30 having the third transport belt 35 having a ring shape is transported to the third transport in the third direction D3 different from the first direction D1 and the second direction D2. In the step of transporting the object 5 on the transport surface of the belt 35, the transported object 5 released from the support tool 50 at the second position is moved from the second transport belt 25 to the third transport belt 35. In some cases, the fourth transport device 40 having the fourth transport belt 45 having a ring shape is transported to the fourth transport in the fourth direction D4 different from the first direction D1 to the third direction D3. In the step of transporting the object 5 on the transport surface of the belt 45, the transported object 5 is supplied from the fourth transport device 40 to the first transport device 10.

Fig. 19 is a schematic plan view of another conveying device 6, showing a state in which the third conveying device and the fourth conveying device are omitted. In this form, some of the features and effects are still common. The induction device 210 senses the conveyed object 5 placed on the conveyance surface 25j of the second conveyance belt 25. The computer 221 of the industrial robot 220 controls the arm 222 and the hand 223 based on the sensing information received from the induction device 210 to appropriately Hold the transport 5 . The conveyance 5 is conveyed from the second conveyance device 20 to another device by the hand 223 of the industrial robot 220. The conveyance 5 that is not held by the industrial robot 220 is dropped onto the conveyance surface 15j of the first conveyance belt 15 via the inclined surface 61 of the bridge member 60 provided between the second conveyance device 20 and the first conveyance device 10 .

In the above-described embodiment or modification, not all of the third transport device 30 and the fourth transport device 40 are essential elements.

FIG. 20 is a schematic plan view of the other conveying device 6, and shows a configuration in which the first conveying device is omitted except that the third conveying device and the fourth conveying device are omitted. In this form, some of the features and effects are still common. The conveyance 5 is supplied from a supply source (not shown) to the conveyance surface 25j of the second conveyance belt 25 of the second conveyance device 20. When the conveyance 5 is selected in the second conveyance device 20, the industrial robot 220 transports the conveyance 5 in an appropriate posture to another device.

In the description of Fig. 20 and the related description, the conveying device having the following configuration is clearly proposed.

A conveyance device includes a conveyance device 20, and has an endless conveyance belt 25, and conveys the conveyance 5 placed on the conveyance surface of the conveyance belt 25, and the conveyance surface of the conveyance belt 25 is inclined in the width direction with respect to the vertical direction AX1. In addition, the support tool 50 supports the conveyed object 5 so that the conveyed object 5 conveyed to the downstream side by the conveyance device 20 stays on the conveyance surface of the conveyance belt 25, and the support tool 50 is configured to convey the first posture The object 5 is supported to the first position, When the conveyance 5 of the second posture different from the first posture is supported to the second position on the downstream side from the first position, when the conveyance 5 of the first posture is released from the support of the support tool 50 at the first position, At least the second conveyor belt 25 is moved by its own weight and/or its inertial force.

One or more features described for the transport device 6 are still common to the transport device.

In the above-described embodiment or modification, the industrial robot 220 is not always an essential element. By the use of the second transport device 20 in cooperation with the support tool 50, the transport object 5 that removes the abnormal posture on the upstream side is promoted, and the transport object 5 in the proper posture is transported to the downstream side. In the case where the industrial robot 220 is used instead of the industrial robot 220, the conveyance 5 in an appropriate posture is gripped by a human hand, and the conveyed object 5 is moved to another apparatus or a packaging container, and in this case, work efficiency can be improved.

In the above-described embodiment or modification, the first conveying device 10, the third conveying device 30, and the fourth conveying device 40 are not essential elements. It is also assumed that a dedicated member or a dedicated device is used for the movement of the conveyance between the transport devices.

In the above-described embodiment or modification, the conveyed material 5 released from the support of the support tool 50 can be moved from the second conveyance belt 25 to the first conveyance belt 15 in an arbitrary manner. It is also conceivable that the conveyed material 5 released from the support tool 50 does not slide down on the inclined surface 53 of the support tool 50, but moves from the second conveyance belt 25 to the first conveyance belt 15 in another manner. In order to move from the second conveyor belt 25 to the first conveyor belt 15, another member not disclosed which is different from the support tool 50 can be used. Of course, the boot tool 100 is also not an essential element.

Based on the teachings, those skilled in the art can add various modifications to the various embodiments. The symbols incorporated in the claims are for reference and should not be used for the purpose of limiting the scope of the claims.

Claims (21)

A transport apparatus includes a first transport device (10) having an annular first transport belt (15), and transporting a transport surface placed on the first transport belt (15) in a first direction (D1) The transported object (5); the second transport device (20) has an annular second transport belt (25), and is transported in a second direction (D2) different from the first direction (D1). The conveyance (5) on the conveyance surface of the second conveyance belt (25) is disposed such that the width direction of the conveyance surface of the second conveyance belt (25) is inclined with respect to the vertical direction (AX1). And a support tool (50) that supports the conveyed object (5) such that the conveyed object (5) conveyed to the downstream side by the second transfer device (20) stays on the second transfer belt ( a transporting surface of 25), wherein the supporting tool (50) is configured to support the transported object (5) in the first posture to the first position, and to perform the second posture different from the first posture The conveyance (5) is supported at a second position on the downstream side of the first position, and the conveyance (5) in the first posture is supported from the support tool (50) at the first position. When released, at least use its own weight and / or its inertial force Moves on to the first conveyor belt (15) on said second conveyor belt (25). The conveying device according to claim 1, wherein the supporting tool (50) has the conveying material (5) conveyed along the second conveying device (20) in order to support the conveying object (5). The bearing surface (51) extending in the direction of ). The conveying device according to the second aspect of the invention, wherein the second conveyor belt is opposite to the upstream side in the direction in which the conveyance (5) is conveyed by the second conveyor (20). The height of the support surface (51) of the transfer surface is low on the downstream side. The conveying device according to Item 2 or 3, wherein the supporting tool (50) has a retracting surface (52) along which the retracting surface (52) is used (20) The direction in which the conveyed object (5) is conveyed extends and forms an acute angle with the support surface (51). The transfer device according to the second or third aspect of the invention, wherein the support tool (50) has a support portion (55) disposed on the second transfer belt (25), the support surface (51) is disposed on the support portion (55). The conveying device according to claim 5, wherein the support portion (55) has a retreating surface (52), and the retracting surface (52) is conveyed along the second conveying device (20) The direction of the conveyance (5) extends and intersects at an acute angle with respect to the support surface (51). The conveying device according to claim 5, wherein the support portion (55) includes a portion having a triangular cross section. The conveying device according to claim 5, wherein the support portion (55) ends on an upstream side of a downstream end of the second conveying device (20). The conveying device according to the first or second aspect of the invention, wherein the inclined surface that is inclined downward from the side of the second conveyor belt (25) toward the first conveyor belt (15) is provided. The inclined surface (53) is provided to make the conveyed object (5) Moving from the second conveyor belt (25) to the movement path on the first conveyor belt (15). The conveying device according to the first or second aspect of the invention, wherein the conveying material released from the support of the supporting tool (50) is provided on a downstream side of the second conveying device (20) ( 5) supplied to the upstream side of the first conveying device (10). The conveying device according to claim 1 or 2, wherein the first conveying device (10) has a first rectifying member (71), and the first rectifying member (71) The conveyance (5) is conveyed to the downstream side so as to be close to the second conveyance device (20), and the flow of the conveyed object (5) is rectified. The conveying device according to claim 11, wherein the first conveying device (10) includes a second rectifying member (72), and the second rectifying member (72) and the conveying member (5) The flow of the conveyed object (5) is rectified so as to be conveyed to the downstream side corresponding to the second conveying device (20). The conveying device according to the first or second aspect of the invention, wherein the conveyed object (5) is vertically oriented (AX1) corresponding to being conveyed to the downstream side by the first conveying device (10) Move above. The conveying device according to claim 1 or 2, wherein the second conveying device (20) has a guiding tool (100), and the guiding tool (100) is to be from the first conveying device ( The transported object (5) that has fallen on the downstream side of 10) is guided to the second transport belt (25). The conveying device according to claim 14, wherein the guiding tool (100) has a concave guiding surface (101) having continuity with a conveying surface of the first conveying belt (15). The conveying device according to the first or second aspect of the invention, further comprising: a third conveying device (30), wherein the third conveying device (30) has an annular third conveying belt (35), The transported object placed on the transport surface of the third transport belt (35) is transported in a third direction (D3) different from the first direction (D1) and the second direction (D2) ( 5); and the conveyed object (5) released from the support of the support tool (50) at the second position is moved from the second conveyor belt (25) to the third conveyor belt ( 35) Upper. The conveying device according to claim 16, further comprising: a fourth conveying device (40), wherein the fourth conveying device (40) has an annular fourth conveying belt (45), and the The transported object (5) placed on the transport surface of the fourth transport belt (45) is transported in the fourth direction (D4) in which the first direction (D1) to the third direction (D3) are different; The conveyed object (5) is supplied from the fourth conveying device (40) to the first conveying device (10). A transport method includes: a first transport device (10) having an annular first transport belt (15) transporting a transport surface placed on the first transport belt (15) in a first direction (D1) The step of transporting the object (5); the second transport device (20) having the second transport belt (25) having an annular shape is transported in the second direction (D2) different from the first direction (D1) In the second a step of arranging the transported object (5) on the transport surface of the transport belt (25), the width direction of the transport surface of the second transport belt (25) being inclined with respect to the vertical direction (AX1), and using The support tool (50) supports the conveyance (5) conveyed to the downstream side by the second conveyance device (20), and conveys the conveyed object (5) to the second conveyance belt (25). The support tool (50) is configured to support the conveyance (5) in the first posture to the first position, and to convey the conveyance in the second posture different from the first posture (5) being supported at a second position on the downstream side of the first position, and the conveyed object (5) in the first posture is released from the support of the support tool (50) at the first position At least the second conveyor belt (25) is moved from the second conveyor belt (25) to the first conveyor belt (15) by its own weight and/or its inertial force. The transport method according to claim 18, further comprising: a third transport device (30) having a ring-shaped third transport belt (35) in the first direction (D1) and the second a step of transporting the transported object (5) placed on the transport surface of the third transport belt (35) in a third direction (D3) having a different direction (D2); and The conveyed object (5) released and supported by the support tool (50) is moved from the second conveyor belt (25) to the third conveyor belt (35). The transport method according to claim 19, further comprising: a fourth transport device (40) having a fourth transport belt (45) having an annular shape The transported object (5) carried on the transport surface of the fourth transport belt (45) is transported in the fourth direction (D4) in which the first direction (D1) to the third direction (D3) are different. And the conveyance (5) is supplied from the fourth conveying device (40) to the first conveying device (10). A conveyance device includes a second conveyance device (20) having an annular second conveyance belt (25), and conveys a conveyed object (5) placed on a conveyance surface of the second conveyance belt (25), The width direction of the conveyance surface of the second conveyance belt (25) is inclined with respect to the vertical direction (AX1), and the support tool (50) supports the conveyance (5) so that the second conveyance is used. The conveyance (5) conveyed to the downstream side by the apparatus (20) stays on the conveyance surface of the second conveyance belt (25), and the support tool (50) is configured to convey the conveyance in the first posture The object (5) is supported to the first position, and the conveyance (5) in the second posture different from the first posture is supported to a second position on the downstream side of the first position, the When the conveyance (5) in the first posture is released from the support of the support tool (50), the conveyance (5) moves to the second conveyance belt by at least its own weight and/or its inertial force ( 25) Outside.