WO2018092211A1

WO2018092211A1 - Transfer device and transport system

Info

Publication number: WO2018092211A1
Application number: PCT/JP2016/083949
Authority: WO
Inventors: 森　一明
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2016-11-16
Filing date: 2016-11-16
Publication date: 2018-05-24
Also published as: JPWO2018092211A1; JP6691227B2

Abstract

This transfer device is configured by being provided with: a conveyor belt having a placing section for placing a workpiece; a feeding device that feeds the conveyor belt; partitions that partition the placing section of the conveyor belt into a plurality of placing sections extending in parallel in the belt feeding direction; and an actuator that vertically moves the placing sections.

Description

Conveying device and transfer system

This specification discloses a transfer device and a transfer system.

2. Description of the Related Art Conventionally, as this type of conveying apparatus, an apparatus that includes a conveyor belt that spans a pair of pulleys, an engine that drives the pulley, and an actuator that moves the object receiving surface of the conveyor belt up and down has been proposed. (For example, refer to Patent Document 1). This conveying device can unravel and sort a lump of workpieces placed on the object receiving surface by moving the object receiving surface up and down by an actuator.

Special table 2015-522494 gazette

However, the above-described transport device cannot transport a plurality of workpieces separately with a single conveyor belt. For this reason, when it is going to distinguish and convey a some workpiece | work, a conveying apparatus must install a some conveyor belt, and it causes a cost increase while the apparatus enlarges.

This disclosure is mainly intended to provide a transport apparatus having a plurality of lanes with a simple configuration.

This disclosure has taken the following measures to achieve the main purpose described above.

The conveying device according to the present disclosure includes a conveyor belt having a placement portion on which a workpiece is placed, a feeding device that feeds the conveyor belt, and a plurality of placement portions that extend in parallel in the belt feeding direction. The gist of the present invention is to include a partition that divides the plurality of placement units up and down, and an actuator that moves the plurality of placement units up and down.

The conveying device of the present invention includes a conveyor belt, a feeding device, a partition, and an actuator. The partition partitions the placement portion of the conveyor belt into a plurality of placement portions that extend in parallel in the belt feeding direction. The actuator moves the plurality of placement portions up and down. The conveying device can have a plurality of lanes with one conveyor belt by using a partition. In addition, when the workpiece apparatus is placed and conveyed in a lump state with respect to a plurality of lanes, the conveyance device can unravel the lump of the workpiece group by driving the actuator while conveying the workpiece group for each lane. .

A transfer system according to the present disclosure includes a conveyor belt having a placement portion on which a workpiece is placed, a feeding device that feeds the conveyor belt, and a plurality of placement portions that extend in parallel in the belt feeding direction. A conveying device having a partition that divides the plurality of placement units up and down, a supply device that supplies workpieces to the upstream side of each of the plurality of placement units in the belt feeding direction, and the plurality And a collecting device for collecting the workpiece from the downstream side of each of the placement portions in the belt feeding direction.

Since the transfer system according to the present disclosure includes the transport device according to the present disclosure described above, the transfer system according to the present disclosure can exhibit the same effects as the effects exhibited by the transport device. For example, the transfer system can exhibit an effect that a single conveyor belt can have a plurality of lanes, an effect that a group of workpieces can be unraveled by driving an actuator while conveying the workpieces for each lane. Moreover, since a transfer system is provided with a supply apparatus and a collection device, conveyance of a workpiece | work can be automated.

1 is a configuration diagram showing an outline of a configuration of a transfer system 10. FIG. FIG. 2 is a configuration diagram showing an outline of a configuration of a work transfer device 20. It is the partial external view which looked at the downstream side of the conveyor belt 22 from the back side. FIG. 3 is a cross-sectional view showing an AA cross section of the work transfer device 20 of FIG. 2. 4 is an explanatory diagram showing an electrical connection relationship of a control device 70. FIG. It is a flowchart which shows an example of a workpiece | work supply control routine. It is a flowchart which shows an example of a workpiece conveyance control routine. It is a flowchart which shows an example of a workpiece | work collection mounting control routine. It is explanatory drawing which shows a mode that the workpiece | work W is conveyed. It is explanatory drawing which shows a mode that the lump of the workpiece | work W is unraveled by the up-and-down movement of the upper surface part 22a. It is a flowchart which shows an example of a workpiece | work discard control routine. It is explanatory drawing which shows a mode that the workpiece | work W is discarded. It is a flowchart which shows an example of a workpiece | work collection control routine. It is explanatory drawing which shows a mode that the workpiece | work W is collect | recovered.

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

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

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

In this embodiment, the mounting table transport device 16 includes a pair of belt conveyors that are spanned in the left-right direction (X-axis direction) with a space in the front-rear direction (Y-axis direction). The mounting table T is conveyed from left to right by a belt conveyor.

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

The picking robot 50 is a robot for picking up a work in the picking area A2 (see FIG. 2) of the work transfer device 20 and transferring and aligning it on the mounting table T transferred by the mounting table transfer device 16. The collection robot 50 includes a vertical articulated robot arm 51 and an end effector 52. The robot arm 51 includes a plurality of links, a plurality of joints that connect the links so as to be rotatable or pivotable, a drive motor 54 that drives each joint (see FIG. 5), and an encoder 55 that detects the angle of each joint ( 5). The plurality of links include a distal end link to which the end effector 52 is attached and a proximal end link fixed to the work table 11. The end effector 52 can hold and release the workpiece. For the end effector 52, for example, a mechanical chuck, a suction nozzle, an electromagnet, or the like can be used. A camera 53 for capturing images of the workpiece W transferred by the workpiece transfer device 20 and the mounting table T transferred by the mounting table transfer device 16 at the tip link of the robot arm 51 and grasping the position and state thereof. Is also attached.

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

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

As shown in FIG. 2, the conveyor belt 22 is stretched between a driving roller 23a and a driven roller 23b. The conveyor belt 22 has the workpiece W placed on the upper surface portion 22a (mounting portion), and the drive roller 23a is rotationally driven (rotated in the forward direction) by a drive motor 38 (see FIG. 5) to belt-feed the workpiece W. Transport in the direction. In the present embodiment, the drive motor 38 is configured to be able to be driven in both forward and reverse rotational directions.

Side walls

24 a and 24 b are provided on both sides of the conveyor belt 22. The driving roller 23a and the driven roller 23b are rotatably supported by the

side walls

24a and 24b.

Further, as shown in FIGS. 3 and 4, the upper surface portion 22 a of the conveyor belt 22 is supported by the support plate 28 on the back surface. The support plate 28 prevents the conveyor belt 22 from being bent by the weight of the workpiece W placed on the upper surface portion 22a. The support plate 28 has openings 28a at positions corresponding to the collection areas A2 of the plurality of transport lanes 21. Below each opening 28a, a vertical movement device 30 is disposed for hitting the upper surface portion 22a from the back surface and moving it up and down. The vertical movement device 30 includes a contact body 31 and a cylinder 32 that moves the contact body 31 up and down so as to penetrate the opening 28a. The cylinder 32 is supported by a support base 29 fixed to the

side walls

24a and 24b.

The partition 25 is a partition plate that partitions one conveyor belt 22 (upper surface portion 22a) into a plurality of transport lanes 21. The partitions 25 extend in parallel to the

side walls

24 a and 24 b disposed on both sides of the conveyor belt 22 and are arranged at equal intervals so that the lane widths of the respective transport lanes 21 are all the same.

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

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

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

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

In the work supply control routine, the CPU 71 of the control device 70 first acquires the supply sequence of the work W (S100). Here, the supply sequence of the workpieces W is the same as the workpiece W collection sequence described later. In the present embodiment, the CPU 71 obtains the collection order designated by the operator by operating the input device 80 as the supply order. Next, CPU71 sets the conveyance lane (supply object lane) used as the object which supplies the workpiece | work W among the some conveyance lanes 21 according to the acquired supply order (S110). Subsequently, the CPU 71 drives and controls the drive motor 44 of the supply robot 40 so as to collect the workpiece W from the supply box 12 corresponding to the set supply target lane (S120). Then, the CPU 71 controls the drive motor 44 of the supply robot 40 so that the collected work W is supplied to the supply area A1 of the supply target lane (S130), and the process returns to S110. As described above, the CPU 71 operates the supply robot 40 to supply the workpiece W to the supply area A1 of the supply target lane while sequentially switching the supply target lanes according to the supply order.

In the work transfer control routine, the CPU 71 of the control device 70 first determines whether or not the work W is supplied to the supply area A1 of any transfer lane 21 by the supply robot 40 (S200). If the CPU 71 determines that the workpiece W is not supplied to the supply area A1, the CPU 71 skips S210 and S220 and proceeds to S230. On the other hand, when the CPU 71 determines that the workpiece W has been supplied to the supply area A1, the CPU 71 determines whether or not the sampling robot 50 is performing a sampling operation for sampling the workpiece W (S210). If the CPU 71 determines that the collection robot 50 is executing the collection operation, the CPU 71 skips S220 and proceeds to S230. On the other hand, if the CPU 71 determines that the sampling robot 50 is not in the middle of executing the sampling operation, the conveyor belt 22 is moved forward by a predetermined amount (for example, 1/5 to the distance from the supply area A1 to the sampling area A2). The drive motor 38 is driven and controlled in the forward rotation direction (forward direction) so that the feed motor 38 is fed (feed amount of about 1/10) (S220). Since the CPU 71 closes the first shutter device 26 and the second shutter device 27 when the workpiece W is being conveyed, the workpiece W will not fall during the conveyance. Next, the CPU 71 determines whether or not the work W has arrived at the collection area A2 of any of the transport lanes 21 (S230). The process of S230 is performed by determining whether or not the feed amount of the conveyor belt 22 after the workpiece W is supplied to the supply area A1 of the transport lane 21 has reached the distance from the supply area A1 to the sampling area A2. be able to. If the CPU 71 determines that the work W has not reached the collection area A2, the process returns to S200. On the other hand, when the CPU 71 determines that the workpiece W has arrived at the collection area A2, the CPU 71 drives and controls the corresponding vertical movement device 30 (cylinder 32) so that the upper surface portion 22a of the collection area A2 moves up and down (S240). Return to S200. In the work transfer control routine, the CPU 71 drives only the vertical movement device 30 corresponding to the sampling area A2 where the work W has reached, but may drive all the vertical movement devices 30.

FIG. 9 is an explanatory diagram showing a state in which the workpiece W is conveyed. FIG. 10 is an explanatory diagram illustrating a state in which the lump of the workpiece W is unwound by the vertical movement of the upper surface portion 22a. A plurality of workpieces W are supplied in a lump state to the supply area A1 by the supply robot 40 in accordance with a specified supply order among the plurality of transfer lanes 21. The workpiece transfer device 20 advances the workpiece W by feeding the conveyor belt 22 in the forward direction every time a lump of workpiece W is supplied to the supply area A1. Thereby, the workpiece conveyance apparatus 20 can convey the lump of the several workpiece | work W for every conveyance lane 21 efficiently using one conveyor belt 22, and can convey efficiently. And when the lump of the work W reaches | attains collection area A2 of any conveyance lane 21, the workpiece conveyance apparatus 20 will drive the up-and-down moving apparatus 30 corresponding to the collection area A2, and will be the upper surface part of collection area A2. 22a is beaten up and the lump of the work W is unwound (see FIG. 10). Thereby, the workpiece conveyance apparatus 20 can make it easy for the collection robot 50 to collect the workpiece W in the collection area A2.

In the work collection placement control routine, the CPU 71 of the control device 70 acquires the collection order (S300). The collection order can be the same as the supply order acquired in S100 of the workpiece supply control routine. Next, the CPU 71 sets a transport lane (collection target lane) that is a target for collecting the workpiece W among the plurality of transport lanes 21 in accordance with the acquired collection order (S310). Subsequently, the CPU 71 captures the collection area A2 of the set collection target lane with the camera 53 (S320), processes the obtained captured image, and selects the non-defective product (non-defective work) among the works W in the collection area A2. Defective products (defective workpieces) are selected (S330). Then, the CPU 71 determines whether or not there is a non-defective work in the collection area A2 of the collection target lane (S340). When the CPU 71 determines that there is a non-defective workpiece, the CPU 71 determines whether there is a transfer destination, that is, whether the mounting table T on which the non-defective workpiece is placed has been transferred by the mounting table transfer device 16 (S350). ). When the CPU 71 determines that there is no transfer destination, the CPU 71 waits until the mounting table T is transported. On the other hand, when the CPU 71 determines that there is a transfer destination, the CPU 71 drives and controls the drive motor 54 of the sampling robot 50 so that the non-defective workpiece in the sampling target lane is collected (S360). Then, the CPU 71 drives and controls the drive motor 54 of the sampling robot 50 so that the collected non-defective workpiece is transferred to the mounting table T and placed on the mounting table T (S370). Return. If the CPU 71 determines in S340 that there is no non-defective workpiece in the sampling area A2, the CPU 71 determines whether or not there is a defective workpiece in the sampling area A2 (S380). If the CPU 71 determines that there is no defective workpiece in the collection area A2, the process returns to S310. On the other hand, if the CPU 71 determines that there is a defective workpiece in the collection area A2, the CPU 71 waits until the defective workpiece is discarded by a workpiece disposal control routine described later (S390), and returns to S310. The workpiece W reaches the collection area A2 earlier as the workpiece W is supplied to the supply area A1 by the supply robot 40 earlier. For this reason, the collection robot 50 can efficiently transfer the plurality of workpieces W to the mounting table T by collecting the workpieces W in the same order as the supply sequence.

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

FIG. 12 is an explanatory diagram showing a state in which the workpiece W is discarded. When discarding the workpiece W, the workpiece transfer device 20 opens the second shutter device 26 of the transfer lane 21 (corresponding lane) in which there is a defective workpiece and no non-defective workpiece exists in the sampling area A2, as shown in the figure. (Indicated by broken lines in the figure), the drive motor 38 is rotated forward to feed the conveyor belt 22 in the forward direction. As a result, the defective workpiece on the corresponding lane is transported in the forward direction and falls into the corresponding disposal box 14. Note that the second shutter device 26 remains closed in other lanes other than the corresponding lane. For this reason, the work W on the other lane is prevented from dropping into the disposal box 14 by the second shutter device 26.

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

FIG. 14 is an explanatory view showing a state in which the workpiece W is collected. When collecting the workpiece W, the workpiece transfer device 20 opens all the first shutter devices 26 (indicated by broken lines in the figure) and reversely rotates the drive motor 38 to move the conveyor belt 22 as shown in the figure. Send in the opposite direction. Thereby, the workpiece | work W of each conveyance lane 21 is each conveyed by the reverse direction, and falls to the corresponding supply box 12. FIG.

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

According to this embodiment described above, since the workpiece conveyance device 20 includes the partition 25 that partitions the conveyor belt 22 into a plurality of conveyance lanes 21, a plurality of types of workpieces W are distinguished and conveyed by one conveyor belt 22. Can do. In addition, since the workpiece conveyance device 20 includes the vertical movement device 30 that moves the conveyor belt 22 (upper surface portion 22a) on which the workpiece W is placed, the workpiece conveyance device 20 unravels the lump of the workpiece W conveyed for each conveyance lane 21. Thus, the conveyed workpiece W can be easily collected.

Moreover, according to this embodiment, since the workpiece conveyance apparatus 20 is provided with the up-and-down moving device 30 for every conveyance lane 21, the lump of the workpiece | work W conveyed for every conveyance lane 21 can be unraveled effectively. Further, since the vertical movement device 30 is arranged so as to be movable up and down in the collection area A2 on the downstream side of the conveyance lane 21, the lump of the work W conveyed to the collection area A2 can be unraveled more reliably.

Further, according to the present embodiment, the workpiece transfer device 20 includes the first shutter device 26 that can be opened and closed at the upstream end of the conveyor belt 22 in the belt feeding direction. Thereby, the workpiece conveyance apparatus 20 can prevent the workpiece | work W falling from the conveyor belt 22 when the workpiece | work W is supplied to supply area A1 by closing the 1st shutter apparatus 26. FIG. Moreover, the workpiece conveyance apparatus 20 can collect | recover the workpiece | work W on the conveyor belt 22 by opening the 1st shutter apparatus 26 and sending the conveyor belt 22 to a reverse direction.

Further, according to the present embodiment, the workpiece transfer device 20 includes the second shutter device 27 that can be opened and closed at the downstream end of the conveyor belt 22 in the belt feeding direction. Thereby, the workpiece conveyance apparatus 20 can prevent the workpiece W from falling from the conveyor belt 22 when the workpiece W is conveyed to the collection area A2 by closing the second shutter device 27. Moreover, the workpiece conveyance apparatus 20 can discard the defective workpiece on the conveyor belt 22 by opening the second shutter device 27 and sending the conveyor belt 22 in the forward direction.

Further, according to the present embodiment, the transfer system 10 supplies the workpiece W to the supply area A1 of the workpiece transfer device 20 by the supply robot 40, and collects the workpiece W transferred to the sampling area A2 by the workpiece transfer device 20. Take 50. Thereby, the transfer system 10 can automate the supply, conveyance, and collection of the workpiece W.

Further, according to the present embodiment, in the transfer system 10, the supply robot 40 supplies the workpiece W to the supply area A <b> 1 of the transfer lane 21 according to the specified supply order among the plurality of transfer lanes 21. The workpiece conveyance device 20 advances the workpiece W by sending the conveyor belt 22 every time the workpiece W is supplied. The collection robot 50 collects the workpiece W from the collection area A2 of the transfer lane 21 in accordance with the collection order that is the same as the supply order. Thereby, the transfer system 10 can transfer the workpiece | work W efficiently.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the invention of the present disclosure.

For example, in the above-described embodiment, the workpiece transfer device 20 advances the workpiece W by sending the conveyor belt 22 in the forward direction every time the workpiece W is supplied by the supply robot 40. However, the workpiece transfer device 20 may send the conveyor belt 22 regardless of whether or not the workpiece W is supplied as long as the sampling robot 50 is not performing the sampling operation.

In the above-described embodiment, the workpiece transfer device 20 includes the vertical movement device 30 for each transfer lane 21. However, the single vertical movement device 30 moves the upper surface portions 22 a of the plurality of transfer lanes 21 together. It may be moved. In this case, the workpiece transfer device 20 may include a support plate having an opening formed so as to straddle a plurality of transfer lanes 21.

In the above-described embodiment, the workpiece transfer device 20 includes the support plate 28 that supports the upper surface portion 22a of the conveyor belt 22 from the back side, but may not include the support plate 28.

In the above-described embodiment, the workpiece transfer device 20 includes the vertical movement device 30 so as to move up and down the collection area A2 of the conveyor belt 22 (upper surface portion 22a). However, the supply area A1 and other regions are provided. The vertical movement device 30 may be arranged to move up and down.

In the above-described embodiment, the workpiece transfer device 20 includes the first shutter device 26 that can be opened and closed at the upstream end (rear end) of the conveyor belt 22 in the belt feeding direction. It is also possible to provide a rear wall that cannot be opened and closed. In this case, the workpiece transfer device 20 cannot collect the workpiece W in the supply box 12, but can prevent the workpiece W from dropping. Further, the workpiece transfer device 20 may not include the first shutter device 26 or the rear wall. Moreover, although the workpiece conveyance apparatus 20 shall collect | recover the workpiece | work W by open | releasing the 1st shutter apparatus 26 and sending the conveyor belt 22 in the reverse direction, it is good also as what discards a defective workpiece | work.

In the above-described embodiment, the workpiece transfer device 20 includes the second shutter device 27 that can be opened and closed at the downstream end (front end) of the conveyor belt 22 in the belt feeding direction. A front wall that cannot be opened and closed may be provided. In this case, the workpiece transfer device 20 cannot discard the workpiece W in the disposal box 14, but can prevent the workpiece W from falling. Further, the workpiece transfer device 20 may not include the second shutter device 27 or the front wall. Moreover, although the workpiece conveyance apparatus 20 shall discard the workpiece | work W by opening the 2nd shutter apparatus 27 and sending the conveyor belt 22 to a forward direction, it is good also as what collect | recovers the workpiece | work W.

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

As described above, the transfer device according to the present disclosure includes a conveyor belt having a placement portion on which a workpiece is placed, a feeding device that feeds the conveyor belt, and a placement portion of the conveyor belt that is parallel to the belt feeding direction. The gist of the invention is to include a partition that divides the plurality of mounting portions and an actuator that moves the plurality of mounting portions up and down.

In the transport device according to the present disclosure, the feeding device may advance the workpiece by feeding a predetermined amount of the conveyor belt when the workpiece is supplied to any of the plurality of placement units. If it carries out like this, the conveying apparatus can convey a workpiece | work efficiently for every lane.

Further, in the transport device according to the present disclosure, the actuator may be moved up and down on the downstream side of the placement unit in the belt feeding direction. If it carries out like this, the conveyance apparatus can unravel the lump of a workpiece | work group in the belt feed direction downstream.

Furthermore, in the transport apparatus according to the present disclosure, the actuator may be provided for each of the plurality of placement units. If it carries out like this, the conveyance apparatus can unravel the lump of the workpiece | work group mounted for every some mounting part more reliably.

Further, in the transfer device according to the present disclosure, the support plate having openings and supporting the plurality of placement units from the back side, and the plurality of placement units via the openings as the actuator is driven. It is good also as a thing provided with the slap-up part struck up from a back surface. If it carries out like this, the conveyance apparatus can unravel the lump of the workpiece | work group mounted in the mounting part by the drive of an actuator, suppressing the bending of the conveyor belt in which the workpiece | work was mounted.

Further, the conveying device of the present disclosure may include a first shutter device that can be opened and closed provided at an upstream end in the belt feeding direction of each of the plurality of placement units. If it carries out like this, the conveyance apparatus can prevent the fall of the workpiece | work mounted in the mounting part by closing a 1st shutter apparatus. In addition, the conveying device sends the conveyor belt in the reverse direction with the first shutter device opened, for example, collects the work remaining on the placement unit at the end of the work or places it on the placement unit. It is possible to discard defective workpieces.

Furthermore, the conveying device of the present disclosure may include a second shutter device that can be opened and closed provided at the downstream end of each of the plurality of placement units in the belt feeding direction. In this way, the conveying device can prevent the workpiece conveyed to the downstream side in the belt feeding direction at the placement portion by closing the second shutter device. In addition, the conveying device sends the conveyor belt in the forward direction with the second shutter device opened, for example, collects the work remaining on the placement unit at the end of the work, or places it on the placement unit. It is possible to discard defective workpieces.

In the transfer system according to the present disclosure, the supply device supplies a workpiece to each of the plurality of placement units in a predetermined supply order, and the transport device supplies the workpiece to any of the plurality of placement units. Each time the conveyor belt is sent, the workpiece is advanced by a predetermined amount, and the sampling device may sample the workpiece from each of the plurality of placement units in the same order as the supply sequence. If it carries out like this, the transfer system can perform conveyance of a workpiece | work efficiently.

The present disclosure can be used in the manufacturing industry of a transfer device and a transfer system.

10 transport system, 11 work table, 12 supply box, 14 disposal box, 16 mounting table transport device, 20 work transport device, 21 transport lane, 22 conveyor belt, 22a top surface, 23a drive roller, 23b driven roller, 24a, 24b Side walls, 25 partitions, 26 1st shutter device, 27 2nd shutter device, 28 support plate, 28a opening, 29 support base, 30 vertical movement device, 31 abutment body, 32 cylinders, 38 drive motor, 40 supply robot, 41 robot arm, 42 end effector, 44 drive motor, 45 encoder, 50 picking robot, 51 robot arm, 52 end effector, 53 camera, 54 drive motor, 55 encoder, 70 control device, 71 CPU, 7 ROM, 73 HAD, 74 RAM, 80 input device, T table, W workpiece.

Claims

A conveyor belt having a placement portion for placing the workpiece;
A feeding device for feeding the conveyor belt;
A partition that partitions the placement portion of the conveyor belt into a plurality of placement portions extending in parallel in the belt feeding direction;
An actuator for moving the plurality of mounting portions up and down;
A transport apparatus comprising:
The transport apparatus according to claim 1,
The feeding device feeds the conveyor belt by a predetermined amount each time the workpiece is supplied to any of the plurality of placement units, and advances the workpiece.
Conveying device.
It is a conveying apparatus of Claim 1 or 2, Comprising:
The actuator moves up and down the downstream side of the placement unit in the belt feeding direction,
Conveying device.
It is a conveying apparatus of any one of Claim 1 thru | or 3, Comprising:
The actuator is provided for each of the plurality of placement units.
Conveying device.
It is a conveying apparatus of any one of Claim 1 thru | or 4, Comprising:
A support plate having an opening and supporting the plurality of placement portions from the back side;
A hitting part that hits the plurality of placement parts from the back surface through the opening as the actuator is driven,
A transport apparatus comprising:
It is a conveying apparatus of any one of Claim 1 thru | or 5, Comprising:
A conveying device comprising: a first shutter device that is openable and closable provided at an upstream end in a belt feeding direction of each of the plurality of placement units.
It is a conveying apparatus of any one of Claim 1 thru | or 6, Comprising:
A transport device comprising: a second shutter device that is openable and closable provided at a downstream end in a belt feeding direction of each of the plurality of placement units.
A conveyor belt having a placement portion for placing a workpiece; a feeding device that feeds the conveyor belt; a partition that partitions the placement portion of the conveyor belt into a plurality of placement portions extending in parallel in a belt feeding direction; An actuator that moves the mounting portion up and down, and a transport device having
A supply device for supplying a workpiece to the upstream side in the belt feeding direction of each of the plurality of placement units;
A sampling device for sampling a workpiece from the downstream side in the belt feeding direction of each of the plurality of placement units;
A transfer system comprising:
9. The transfer system according to claim 8, wherein
The supply device supplies a work in a predetermined supply order to each of the plurality of placement units,
The transport device advances the work by feeding a predetermined amount of the conveyor belt each time the work is supplied to any of the plurality of placement units,
The sampling device collects a workpiece from each of the plurality of placement units in the same order as the supply order.
Transport system.