WO2022009736A1

WO2022009736A1 - Transported article discharge device

Info

Publication number: WO2022009736A1
Application number: PCT/JP2021/024580
Authority: WO
Inventors: 健太郎林
Original assignee: 株式会社京都製作所
Priority date: 2020-07-08
Filing date: 2021-06-29
Publication date: 2022-01-13
Also published as: JP2022015333A

Abstract

A transported article discharge device A that discharges a rectangular transported article 7 that is moving along a confluent transport path 120 that is parallel to a principal transport path 110 from the confluent transport path 120 onto the principal transport path 110, the transported article discharge device A having a plurality of contact parts 62 that contact the transported article 7 and a discharge movement part 61 that moves the plurality of contact parts 62 from the confluent transport path 120 toward the principal transport path 110. The contact parts 62 include a first contact part 621 that contacts a side surface 71 of the transported article 7 that is on the opposite side from the principal transport path 110 and a second contact part 622 that contacts a side surface 74 of the transported article 7 that is on the rear side in the transport direction. The plurality of contact parts 62 are equidistant from the discharge movement part 61.

Description

Delivery device for the transported object

The present invention relates to a day-to-day transport device for delivering a transported object while maintaining its posture.

For example, there is a transport device that pushes an article to be transported by a conveyor with a pusher and slides the article in a direction intersecting the transport direction of the conveyor to pull the article in width (see, for example, Japanese Patent Application Laid-Open No. 2020-1915). ..

Japanese Unexamined Patent Publication No. 2020-1915

In the case of a configuration in which the article is pushed with a pusher, the article may be knocked down or the posture of the article may change. When pushing an article with a pusher to transfer the article to another transport device, the transport may be difficult depending on the transport method of the transport device.

Therefore, an object of the present invention is to provide a delivery device for the transported object, which can move the transported object in a direction different from the transport direction while maintaining the posture.

In order to achieve the above object, the present invention presents a device for delivering a rectangular parallelepiped object to be transported, which moves along a merging transport path extending parallel to the main transport path, from the merging transport path to the main transport path. Is. The delivery device for the transported object has a plurality of contact portions that come into contact with the transported object, and a delivery moving unit that moves the plurality of contact portions from the merging transport path toward the main transport path. .. The contact portion has a first contact portion that contacts the side surface of the object to be transported opposite to the main transport path, and a second contact portion that contacts the rear side surface of the object to be transported in the transport direction. The plurality of contact portions are arranged at equal intervals in the transmission moving portion.

With this configuration, the object to be transported can be sent to the main transport path while maintaining the posture of the object to be transported while being transported in the confluence transport path. Therefore, the object to be transported can be accurately sent to the main transport path.

In the above configuration, the first contact portion has a first contact surface that makes surface contact with the side surface of the object to be transported opposite to the main transport path.

In the above configuration, the second contact portion has a second contact surface that comes into contact with the rear side surface in the transport direction.

In the above configuration, the delivery moving portion faces an upward moving portion arranged above the transported object and the second contact portion is arranged, and a surface of the transported object opposite to the main transport path. It has a lateral moving portion in which the first contact portion is arranged. The moving speed of the second contact portion by the upward moving portion and the moving speed of the first contact portion by the lateral moving portion are constant speeds.

In the above configuration, both the upward moving portion and the lateral moving portion are belt conveyors.

In the above configuration, the transmission moving unit further includes a transport shuttle that is arranged along the main transport path and moves in the transport direction while holding the front surface and the rear surface in the transport direction of the object to be transported. Moves the transported object so that the speed in the direction along the main transport path of the transported object is the same as that of the transport shuttle.

According to the present invention, it is possible to provide a delivery device for a transported object that can move the transported object in a direction different from the transport direction while maintaining the posture.

It is a schematic layout drawing of the transporting apparatus which transports a transporting case which is a transportable object. It is a functional block diagram of a transport device. It is a top view of the state which the 1st holding shuttle and the 2nd holding shuttle which held a transport case are moving along a straight rail. It is a top view of the state which the 1st holding shuttle and the 2nd holding shuttle which held a transport case are moving along a curved rail. FIG. 3 is a view of the first holding shuttle and the second holding shuttle shown in FIG. 3 as viewed from the outside. It is a figure seen from the upstream side in the transport direction of the 1st holding shuttle. It is a figure seen from the upstream side in the transport direction of the 2nd holding shuttle. It is an enlarged plan view of a sending device. It is a perspective view of the carry-out part provided in the delivery device. It is a perspective view which looked at the feed part provided in the delivery device from the bottom. FIG. 3 is a plan view showing a state in which the first star foil at time T1 holds a transport case on the most downstream side in the transport direction. It is a top view which shows the position of the 2nd star foil at time T1. It is a top view which shows the state which the 1st star foil sent out the transport case at time T2. It is a top view which shows the position of the 2nd star foil at time T2. FIG. 3 is a plan view showing a state in which the second star foil at time T3 holds a transport case on the most downstream side in the transport direction. It is a top view which shows the position of the 1st star foil at time T3. It is a flowchart which shows the operation of the main transport mechanism in a branch part.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Transporting device A>
FIG. 1 is a schematic layout diagram of a transport device A for transporting a transport case 7 which is a transport object. FIG. 2 is a functional block diagram of the transport device A. As shown in FIG. 1, the transport device A is incorporated in a manufacturing process of a product (not shown) and uses a linear motor to transport the transport case 7 which is an object to be transported.

As shown in FIGS. 1 and 2, the transport device A includes a transport path 100, a transport mechanism 200, a delivery device 300, and a control unit 400. The transport case 7 is transported along the transport path 100.

<Transport path 100>
The transport path 100 includes a main transport path 110, a merging transport path 120, and a branch transport path 130. The main transport path 110 is a loop-shaped transport path (note that it may be referred to as a small loop in the following description). The merging transport path 120 merges with the main transport path 110. The branch transport path 130 branches from the main transport path 110. In the transport path 100, the merging transport path 120 and the branch transport path 130 are connected by, for example, a curved transport path 140. That is, in the transport path 100, a part of the main transport path 110, the merging transport path 120, the branch transport path 130, and the curved transport path 140 form a loop (note that in the following description, a large loop is formed). May be called). Here, the loop shape refers to a shape in which both ends are connected and closed. In the present embodiment, the transport case 7 is transported clockwise in each of the small loop-shaped transport path and the large loop-shaped transport path.

Therefore, in the following description, the clockwise direction in the transport path 100 will be described as the transport direction Tr1. Then, the side toward Tr1 in the transport direction is defined as the "downstream side in the transport direction" or the "front side in the transport direction" when indicating the position in the member, and the opposite side is the "upstream side in the transport direction" or in the member. When indicating the position, it is "rear side in the transport direction". Further, the direction toward the outside of the portion surrounded by the loop-shaped transport path may be the outer direction in the direction intersecting the transport direction Tr1, and may be simply "outer". Further, the side opposite to the "outer side" in the direction intersecting the transport direction Tr1 may be referred to as the "inner side".

As shown in FIG. 1, the main transport path 110 of the transport path 100 has a first work unit St1 that performs a predetermined work on the transport case 7. Further, the curved transport path 140 has a second working unit St2 that performs work different from that of the first working unit St1. It should be noted that a working unit other than the first working unit St1 and the second working unit St2 may be provided.

<Main transport path 110>
The main transport path 110 includes a first straight line portion 111, a second straight line portion 112, a first curved line portion 113, and a second curved line portion 114. The first straight line portion 111 and the second straight line portion 112 are arranged in parallel. The first curved portion 113 connects the downstream side of the first straight line portion 111 in the transport direction and the upstream side of the second straight line portion 112 in the transport direction. The second curved portion 114 connects the downstream side of the second straight line portion 112 in the transport direction and the upstream side of the first straight line portion 111 in the transport direction.

In the main transport path 110, the first curved portion 113 and the second curved portion 114 have an arcuate shape in a plan view, but the present invention is not limited to this. When moving the portion switching from the straight portion to the curved portion and the curved portion, the shape may be other than the arc shape as long as it has a curved shape so that the change of the centrifugal force acting on the transport case 7 becomes gentle.

The main transport path 110 is formed in a loop shape (small loop) by connecting the first straight line portion 111, the first curved line portion 113, the second straight line portion 112, and the second curved line portion 114 in this order.

In the main transport path 110, the transport case 7 is transported by the main transport mechanism 210 described later of the transport mechanism 200. In the main transport path 110, the transport case 7 is transported in the order of the first straight line portion 111, the first curved line portion 113, the second straight line portion 112, and the second curved line portion 114.

The transport case 7 is transported in the clockwise transport direction Tr1 in the main transport path 110. The main transport path 110 has a confluence portion 115 and a branch portion 116. The merging portion 115 is arranged at the downstream end portion of the first straight line portion 111 in the transport direction Tr1. At the merging section 115, the merging transport path 120 merges with the main transport path 110.

The branch portion 116 is arranged at the downstream end portion of the second straight line portion 112 in the transport direction Tr1. At the branch portion 116, the branch transport path 130 branches from the main transport path 110. A run-up region 117 is provided at the downstream end of the second straight line portion 112 on the downstream side of the transport direction Tr1. The run-up area 117 is an area where the main transport path 110 and the branch transport path 130 overlap.

A guide portion 118 is arranged outside the main transport path 110. The guide portion 118 is a plate material arranged along the main transport path 110. When the transport case 7 is transported in the main transport path 110, the transport case 7 comes into contact with the guide portion 118 and is guided.

In the main transport path 110, the guide portion 118 is supported by the main transport mechanism 210 when the position and angle in the direction orthogonal to the transport direction of the transport case 7 are likely to deviate, or when the centrifugal force acting on the transport case 7 is supported. You may make contact with the transport case 7 only when it cannot be cut.

The guide portion 118 is preferably made of a material having low friction with the transport case 7 and less wear when the transport case 7 comes into contact with the guide portion 118. It should be noted that the present invention is not limited to this, and for example, the position of the rotatable rollers arranged side by side along the main transport path 110 in the direction orthogonal to the transport direction of the transport case 7 is adjusted to cause friction with the transport case 7. Can be widely adopted in configurations with few.

In the present embodiment, the guide portion 118 is provided only on the outside of the main transport path 110, but the present invention is not limited to this, and the guide portion 118 may be provided on the inside of the main transport path 110 as well.

The main transport mechanism 210 holds a surface on the downstream side (hereinafter, may be referred to as a front side) and an upstream side (hereinafter, may be referred to as a rear side) of the transport direction Tr1 of the transport case 7 and is a transport case. 7 is transported. A lower surface guide portion 119 that supports the lower surface of the transport case 7 is arranged in the main transport path 110.

As the lower surface guide portion 119, for example, two rail-shaped members extending in parallel along the main transport path 110 are adopted, but the present invention is not limited to this. For example, the rollers may be spread in the transport direction, or may be a plate-shaped member made of a material having a small coefficient of friction with the transport case 7. The lower surface guide portion 119 can widely adopt a structure in which the transport case 7 is supported from the lower surface and the transport resistance by the main transport mechanism 210 is unlikely to occur.

If the main transport mechanism 210 can hold the transport case 7 so as not to fall downward, the lower surface guide portion 119 may be omitted. Further, in the main transport path 110, a transport mechanism for moving the transport case 7 such as a top chain conveyor from the lower surface in the transport direction may be arranged in the vicinity of the confluence portion 115 and the branch portion 116, for example. .. In the main transport path 110, the lower surface guide portion 119 is omitted in the portion where the transport mechanism for transporting while supporting from the lower surface is arranged.

As shown in FIG. 1, the first working unit St1 is arranged on the upstream side of the transport direction Tr1 of the second straight line portion 112 of the main transport path 110. The first working unit St1 performs, for example, the work of arranging the container Cv in the transport case 7. However, the present invention is not limited to this, and work other than arranging the container Cv may be performed, or another work may be performed in addition to the work of arranging the container Cv.

<Merge transport path 120>
The merging transport path 120 extends along the first straight line portion 111 of the main transport path 110. In the transport path 100, the merging transport path 120 is linear, but is not limited to this, and may have at least a curved portion. In the merging transfer path 120, the transfer case 7 is conveyed by the merging transfer mechanism 220 described later of the transfer mechanism 200.

A merging guide unit 121 is arranged in the merging transport path 120. In the merging transfer path 120, the merging guide portion 121 is arranged in parallel with the guide portion 118 extending along the first straight line portion 111. The merging guide section 121 has the same configuration as the guide section 118. Similar to the guide unit 118, it is also possible to adopt an alternative configuration.

In the merging transfer path 120, the transfer case 7 is conveyed by the merging transfer mechanism 220 while being guided by the merging guide section 121 and the guide section 118. A delivery device 300 is arranged at the downstream end of the confluence transport path 120 in the transport direction. The delivery device 300 sends the transport case 7 transported from the merging transport path 120 to the main transport path 110 at a predetermined timing. The detailed configuration and operation of the transmission device 300 will be described later.

<Branch transport path 130>
As shown in FIG. 1, the branch portion 116 is provided at the downstream end of the transport direction Tr1 of the second straight line portion 112. The branch transport path 130 extends from the branch portion 116 in a direction extending the second straight portion 112 from the downstream end of the transport direction Tr1 of the second straight portion 112. In the transport path 100, the branch transport path 130 is linear, but is not limited to this, and may have at least a curved portion. In the branch transfer path 130, the transfer case 7 is conveyed by the branch transfer mechanism 230 described later of the transfer mechanism 200.

A branch guide unit 131 is arranged in the branch transport path 130. The branch guide portion 131 is arranged so as to be adjacent to each other in a direction intersecting the transport direction Tr1 of the branch transport mechanism 230. That is, the branch guide portions 131 are arranged in pairs with the branch transfer mechanism 230 interposed therebetween. The branch guide unit 131 has the same configuration as the guide unit 118. Similar to the guide unit 118, the branch guide unit 131 can adopt a configuration that can be substituted.

In the branch transport path 130, the outer branch guide portion 131 is continuous with the guide portion 118 of the second straight portion 112. Further, the inner branch guide portion 131 is continuous with the guide portion 118 of the second curved portion 114.

<Curve transport path 140>
In the transport path 100 shown in FIG. 1, the downstream of the branch transport path 130 in the transport direction is connected to the curved transport path 140. Then, the curved transport path 140 joins the merging transport path 120. The curved transport path 140 has an arc shape in a plan view. Then, in the curved transport path 140, a second working unit St2 that performs a predetermined work is arranged with respect to the transport case 7, here, the container Cv arranged in the transport case 7. Then, after the predetermined work in the second working unit St2, the transport case 7 is transported to the merging transport path 120. The downstream end of the transport direction Tr1 of the curved transport path 140 is connected to the upstream end of the transport direction Tr1 of the merging transport path 120.

<Control unit 400>
Next, the control unit 400 that controls the transport device A will be described. As shown in FIG. 2, the control unit 400 includes a processing circuit 401 and a storage circuit 402. The processing circuit 401 is a circuit that processes various types of information, and has an arithmetic circuit such as a CPU and an MPU. Further, the processing circuit 401 controls the transport device A based on the processing result.

The storage circuit 402 is a circuit including a semiconductor memory such as a ROM or RAM, a portable memory such as a flash memory, and a storage medium such as a hard disk, or a circuit to which a storage medium is connected. The storage circuit 402 may store various programs such as a control program or a processing program, and if necessary, the program corresponding to the processing may be called and the processing circuit 401 may operate the program to perform the processing. ..

The control unit 400 includes a linear motor driver 43, a main conveyor 211 and a monitoring unit 212 described later in the main transport mechanism 210, a merging conveyor 221 described later in the merging conveyor mechanism 220, a branch conveyor 231 of the branch conveyor mechanism 230, and a state detection. The unit 232, the first drive unit 53 and the second drive unit 54 of the carry-out unit 310 described later of the delivery device 300, and the side movement unit 611 and the upward movement unit 612 of the feed unit 320 are connected to each other.

<Transport mechanism 200>
Next, the details of the transport mechanism 200 that transports the transport case 7 will be described.

As shown in FIGS. 1 and 2, the transport mechanism 200 includes a main transport mechanism 210, a merging transport mechanism 220, and a branch transport mechanism 230. The main transport mechanism 210 is arranged in the main transport path 110 and transports the transport case 7 in the main transport path 110. The merging transfer mechanism 220 is arranged in the merging transfer path 120 and conveys the transfer case 7 in the merging transfer path 120. The branch transport mechanism 230 is arranged from the approach region 117 of the main transport path 110 to the branch transport path 130. The upstream end of the branch transfer mechanism 230 is the start portion of the run-up region 117. The branch transport mechanism 230 transports the transport case 7 in the approach area 117 and the branch transport path 130.

In the run-up region 117, the main transport mechanism 210 and the branch transport mechanism 230 have a force toward the main transport path 110 (the second curved portion 114 of the main transport path 110) and a force toward the branch transport path 130, respectively, for one transport case 7. Can be given. The transport case 7 is fed to either the branch transport path 130 or the main transport path 110 (second curved section 114) at the branch portion 116 by the operation of the main transport mechanism 210. In a part of the upstream side of the approach region 117, the transport direction of the main transport mechanism 210 and the transport direction of the branch transport mechanism 230 are the same. Details of switching the movement of the transport case 7 at the branch portion 116 will be described later.

<Main transport mechanism 210>
The details of the main transport mechanism 210 will be described with reference to the drawings. FIG. 3 is a plan view of a state in which the first holding shuttle 1 and the second holding shuttle 2 holding the transport case 7 are moving along the linear rail 3a. FIG. 4 is a plan view of a state in which the first holding shuttle 1 and the second holding shuttle 2 holding the transport case 7 are moving along the curved rail 3b. FIG. 5 is a view of the first holding shuttle 1 and the second holding shuttle 2 shown in FIG. 3 as viewed from the outside. FIG. 6 is a view seen from the upstream side of the transport direction Tr1 of the first holding shuttle 1. FIG. 7 is a view seen from the upstream side of the transport direction Tr1 of the second holding shuttle 2. As shown in FIGS. 1 to 7, the main transport mechanism 210 includes a first holding shuttle 1, a second holding shuttle 2, a rail 3, and a linear drive unit 4.

<Rail 3>
The rail 3 guides the movement of the first holding shuttle 1 and the second holding shuttle 2. As shown in FIGS. 1, 3, and 4, the main transport mechanism 210 has a linear rail 3a and a curved rail 3b as the rail 3. The linear rail 3a and the curved rail 3b differ in whether they are linear or curved in a plan view, but the other points are substantially the same configuration.

Therefore, in the following description, when distinction is not necessary, the straight rail 3a and the curved rail 3b will be described as the rail 3 as a representative. As shown in FIGS. 3 to 7, the rail 3 has a main rail portion 31, a grooved rail portion 32, and a flat rail portion 33.

The main rail portion 31 is a tubular body having a rectangular cut surface cut along a surface orthogonal to the transport direction Tr1. The shape of the cross section of the main rail portion 31 is the longitudinal direction in the vertical direction. Inside the main rail portion 31, the coil 41 of the linear drive portion 4 is arranged. The main rail portion 31 is made of a material through which the magnetic force from the coil 41 is transmitted when the coil 41 is excited by passing an electric current through the coil 41. Examples of such materials include, but are not limited to, some stainless steels, aluminum and alloys thereof.

The grooved rail portion 32 is fixed to the upper part of the main rail portion 31. The main rail portion 31 and the grooved rail portion 32 can be fixed by welding, screwing, or the like, but the fixing is not limited to this. The main rail portion 31 and the grooved rail portion 32 may be integrally formed. The grooved rail portion 32 has a concave groove portion 321 recessed from the outer surface in the direction intersecting the transport direction Tr1. The groove portion 321 is formed over the entire circumference of the rail 3. The grooved rail portion 32 has two groove portions 321. The two groove portions 321 are arranged side by side in the vertical direction. The two groove portions 321 accommodate the upper roller 14 described later for the first holding shuttle 1 and the upper roller 24 described later for the second holding shuttle 2. The upper roller 14 and the upper roller 24 move along the groove portion 321.

The flat rail portion 33 is fixed to the lower part of the main rail portion 31. The main rail portion 31 and the flat rail portion 33 can be fixed by welding, screwing, or the like, but the fixing is not limited to this. The main rail portion 31 and the flat rail portion 33 may be integrally formed. The flat rail portion 33 has a shape along a vertical line on the outside of a cross section cut at a surface intersecting the transport direction Tr1 (see FIGS. 6, 7, etc.). The lower roller 15 described later of the first holding shuttle 1 and the lower roller 25 described later of the second holding shuttle 2 come into contact with the outer surface of the flat rail portion 33. The lower roller 15 and the lower roller 25 rotate while being in contact with the outer surface of the flat rail portion 33.

The straight rail 3a is arranged inside the first straight line portion 111 and the second straight line portion 112 of the main transport path 110. Further, the curved rail 3b is arranged inside the first curved portion 113 and the second curved portion 114 of the main transport path 110. Further, the linear rail 3a of the first straight portion 111, the curved rail 3b of the first curved portion 113, the curved rail 3a of the second straight portion 112, and the curved rail 3b of the second curved portion 114 are provided. It is connected, and further, the curved rail 3b of the second curved portion 114 is connected to the rail 3a of the first straight portion 111 to form a loop.

<1st holding shuttle 1>
The first holding shuttle 1 is arranged on the outer surface of the rail 3 and can move along the rail 3. As shown in FIGS. 3 to 6, the first holding shuttle 1 has a main body portion 11, a first surface pushing arm 12, a first arm with claws 13, an upper roller 14, and a lower roller 15. ..

A magnet 42, which will be described later, of the linear drive unit 4 is arranged on the main body unit 11. The main body portion 11 is arranged outside the rail 3 so as to face the rail 3. The first surface push arm 12 projects outward from the main body 11. When the first holding shuttle 1 is attached to the rail 3, the first surface pushing arm 12 forms a constant angle with respect to the transport direction Tr1 (here, it is orthogonal to it).

As shown in FIGS. 3, 5, and 6, the first surface push arm 12 projects outward from the main body portion 11. The first surface pushing arm 12 comes into surface contact with the rear surface of the transport case 7 in the transport direction Tr1 and presses the rear surface. A non-slip may be attached to at least a portion of the first surface push arm 12 that comes into contact with the transport case 7.

The arm 13 with the first claw protrudes from the main body 11 in the same direction as the first surface push arm 12. As shown in FIGS. 5 and 6, the first claw-attached arm 13 is arranged above the first surface pushing arm 12 at intervals. The arm 13 with a first claw has a first claw portion 16. The first claw portion 16 projects from the outer tip of the arm 13 with the first claw to the front side in the transport direction Tr1.

The first holding shuttle 1 has two upper rollers 14 rotatably supported at the upper part. The two upper rollers 14 are separated from each other in the transport direction and are arranged at different positions in the vertical direction. The radial outer edge of the upper roller 14 fits into the groove portion 321 of the grooved rail portion 32.

The upper roller 14 rotates while being fitted in the groove portion 321. As a result, when the first holding shuttle 1 moves along the rail 3, the vertical displacement of the first holding shuttle 1 is suppressed. That is, the first holding shuttle 1 moves accurately along the rail 3.

The first holding shuttle 1 has two lower rollers 15 rotatably supported at the bottom. The two lower rollers 15 are separated from each other in the transport direction and are arranged at different positions in the vertical direction. The lower roller 15 is cylindrical, and the outer peripheral surface of the lower roller 15 comes into contact with the outer surface of the flat rail portion 33.

The first holding shuttle 1 is attracted to the outer surface of the rail 3 by the magnetic force of the magnet 42 arranged inside. The rail 3 may be provided with an suction portion made of a metal such as iron that attracts the magnet, or may be attracted by the magnetic force between the iron core provided in the coil 41 and the magnet 42. Further, the first holding shuttle 1 may be movable along the rail 3 and may be attached to the rail 3 so as not to easily fall off from the rail 3 by using a hook or the like.

The first holding shuttle 1 is movably attached along the rail 3 by the upper roller 14 and the lower roller 15 while keeping a certain distance from the rail 3.

<Second holding shuttle 2>
The second holding shuttle 2 is arranged on the outer surface of the rail 3 and can move along the rail 3. As shown in FIGS. 3, 5, and 7, the second holding shuttle 2 includes a main body portion 21, a second surface push arm 22, a second claw arm 23, an upper roller 24, and a lower roller 25. , Have.

A magnet 42, which will be described later, of the linear drive unit 4 is arranged on the main body unit 21. The main body portion 21 is arranged outside the rail 3 so as to face the rail 3. The second surface push arm 22 projects outward from the main body portion 21. When the second holding shuttle 2 is attached to the rail 3, the second surface pushing arm 22 forms a constant angle with respect to the transport direction Tr1 (here, it is orthogonal to it).

As shown in FIGS. 3, 5, and 7, the second surface push arm 22 projects outward from the main body portion 21. The second surface pushing arm 22 comes into surface contact with the front surface of the transport case 7 in the transport direction Tr1 and presses the front surface. A non-slip may be attached to at least a portion of the second surface push arm 22 that comes into contact with the transport case 7.

The arm 23 with the second claw protrudes from the main body 11 in the same direction as the second surface push arm 22. As shown in FIGS. 5 and 7, the second claw arm 23 is arranged above the second surface push arm 22 at intervals. The arm 23 with a second claw has a second claw portion 26. The second claw portion 26 projects from the outer tip of the arm with the second claw 23 to the rear side of Tr1 in the transport direction.

The second holding shuttle 2 has two upper rollers 24 rotatably supported at the upper part. The two upper rollers 24 are separated in the transport direction and are arranged at different positions in the vertical direction. The radial outer edge of the upper roller 24 fits into the groove portion 321 of the grooved rail portion 32.

The upper roller 24 rotates while being fitted in the groove portion 321. As a result, when the second holding shuttle 2 moves along the rail 3, the vertical displacement of the second holding shuttle 2 is suppressed. That is, the second holding shuttle 2 moves accurately along the rail 3.

The second holding shuttle 2 has two lower rollers 25 that are rotatably supported at the bottom. The two lower rollers 25 are separated from each other in the transport direction and are arranged at different positions in the vertical direction. The lower roller 25 is cylindrical, and the outer peripheral surface of the lower roller 25 comes into contact with the outer surface of the flat rail portion 33.

The second holding shuttle 2 is attracted to the outer surface of the rail 3 by the magnetic force of the magnet 42 arranged inside. The rail 3 may be provided with an suction portion made of a metal such as iron that attracts the magnet, or may be attracted by the magnetic force between the iron core provided in the coil 41 and the magnet 42. Further, the second holding shuttle 2 may be movable along the rail 3 and may be attached to the rail 3 so as not to easily fall off from the rail 3 by using a hook or the like.

The second holding shuttle 2 is movably attached along the rail 3 by the upper roller 24 and the lower roller 25 while keeping a certain distance from the rail 3.

<Linear drive unit 4>
The linear drive unit 4 will be described with reference to the drawings. The linear drive unit 4 employs a linear motor mechanism. The linear drive unit 4 can independently drive each first holding shuttle 1 and each second holding shuttle 2.

The linear drive unit 4 has a plurality of coils 41, a magnet 42, and a linear motor driver 43 (see FIG. 2). The plurality of coils 41 are arranged inside the rail 3 along the rail 3.

The magnet 42 is a permanent magnet and is arranged inside the main body 11 of the first holding shuttle 1 and the main body 21 of the second holding shuttle 2. A linear motor is formed by a magnet 42 arranged in the main body 11 of the first holding shuttle 1 and a plurality of coils 41 arranged inside the rail 3. Further, the magnet 42 arranged in the main body 21 of the second holding shuttle 2 and the plurality of coils 41 arranged inside the rail 3 also form a linear motor. That is, the main transfer mechanism 210 is a linear motor transfer mechanism using a linear motor.

The linear motor driver 43 is connected to the control unit 400. The linear motor driver 43 is also connected to a power supply circuit (not shown). The linear motor driver 43 supplies electric power for supplying electric power from the power supply circuit to the coil 41 designated based on the instruction from the control unit 400. The linear motor driver 43 may include a circuit such as a power supply circuit that adjusts the voltage and current supplied to each coil 41.

By sequentially switching the coil 41 that supplies the current, the coil 41 and the magnet 42 operate as a linear motor, and the first holding shuttle 1 and the second holding shuttle 2 move along the rail 3. The movement of the first holding shuttle 1 and the second holding shuttle 2 is independently controlled by the control unit 400.

Further, the main transfer mechanism 210 has a main transfer conveyor 211 arranged in the merging unit 115 in addition to the linear drive unit 4. The main conveyor 211 is arranged to assist the movement of the conveyor case 7 from the merging conveyor 120.

The main transport mechanism 210 has a monitoring unit 212 connected to the control unit 400. The monitoring unit 212 monitors the first holding shuttle 1 and the second holding shuttle 2 passing through the adjustment standby position Sp1 on the upstream side of the transport direction Tr1 of the main conveyor 211. The monitoring unit 212 confirms whether or not the passage of the first holding shuttle 1 and the second holding shuttle 2 and the transport case 7 are held. Then, the result is sent to the control unit 400 as monitoring information.

<Merge transfer mechanism 220 and branch transfer mechanism 230>
The merging transfer mechanism 220 has a merging conveyor 221. The merging conveyor 221 is arranged along the merging transfer path 120. The merging conveyor 221 can mount the transport case 7 on the upper portion, and transports the transport case 7 mounted on the upper portion along the merging transport path 120 in the transport direction Tr1. The merging conveyor 221 is controlled by the control unit 400 (see FIG. 2). The control of the merging conveyor 221 by the control unit 400 includes, for example, transfer start, transfer stop, and transfer speed of the transfer case 7 by the merging conveyor 221, but the control is not limited to this, and other controls are performed. You may do so.

The branch transfer mechanism 230 has a branch conveyor 231. The branch conveyor 231 is arranged in the approach region 117 and along the branch transfer path 130. The branch conveyor 231 can mount the transport case 7 on the upper portion, and transports the transport case 7 mounted on the upper portion along the branch transport path 130 in the transport direction Tr1. The branch conveyor 231 is controlled by the control unit 400 (see FIG. 2).

Further, the branch transfer mechanism 230 has a state detection unit 232. The state detection unit 232 is arranged on the upstream side in the transport direction Tr1 from the approach region 117 of the second straight line portion 112 of the main transport path 110. Then, the state detection unit 232 monitors the transport case 7 that reaches the run-up area 117, acquires the state of the transport case 7, and sends it to the control unit 400 as detection information (see FIG. 2). The control unit 400 determines whether to send the transport case 7 to the branch transport path 130 or the second curved section 114 of the main transport path 110 based on the detection information. The details of the transfer branch of the transfer case 7 will be described later.

<Sending device 300>
Next, the details of the sending device 300 will be described with reference to the drawings. FIG. 8 is an enlarged plan view of the delivery device 300. FIG. 9 is a perspective view of the carry-out unit 310 provided in the delivery device 300.

As shown in FIG. 1 and the like, the delivery device 300 is connected to the downstream end of the confluence transport path 120 in the transport direction. The delivery device 300 sends out the transport case 7 transported by the merging transport path 120 to the merging section 115 and transports it to the main transport path 110. The delivery device 300 has a carry-out unit 310 and a feed unit 320.

<Carrying out unit 310>
The carry-out unit 310 temporarily stops the transport case 7 transported downstream of the transport direction Tr1 of the merging transport path 120 at the downstream end of the merging transport path 120, and does not interfere with the transport case 7 transported to the main transport path 110. The transport case 7 stopped at the timing is sent out. Note that feeding refers to an operation of pushing the transport case 7 in the transport direction Tr1. The carry-out unit 310 has a first star foil 51 and a second star foil 52, and a first drive unit 53 and a second drive unit 54.

<1st Star Foil 51 and 2nd Star Foil 52>
In the carry-out unit 310, the first star foil 51 and the second star foil 52 are vertically and independently rotatably arranged vertically so that the central axes coincide with each other. As shown in FIG. 9, the first star foil 51 is arranged above the second star foil 52. The first star foil 51 and the second star foil 52 have the same configuration. Therefore, it will be described with reference to the first star wheel 51 as a representative. Further, regarding the second star foil 52, the correspondence with the first star foil 51 will be described.

As shown in FIG. 9, the first star foil 51 has a main body portion 511 and three engaging convex portions 512. The main body portion 511 has a disk shape in a plan view. The main body portion 511 is not limited to a disk shape, but is preferably a disk shape in order to smoothly rotate the first star foil 51.

The three engaging convex portions 512 extend radially outward from the radial outer edge of the main body portion 511. The three engaging protrusions 512 are arranged at equal intervals in the circumferential direction. The three engaging protrusions 512 each have the same shape. The engaging convex portion 512 engages with the side surface of the transport case 7 and temporarily stops the transport case 7 transported to the downstream end of the merging transport path 120.

Here, the transport case 7 will be described. The transport case 7 is transported in the main transport path 110, the merging transport path 120, the branch transport path 130, and the curved transport path 140. The transport case 7 is a box body having an opening 70 at the top. The transport case 7 has an outer surface 71, a rear corner portion 72, a front side corner portion 73, a rear surface 74, and a front surface 75.

The outer surface 71 is a plane facing outward and is a surface facing outward in a direction intersecting the transport direction Tr1. The rear surface 74 is a surface on the rear side of Tr1 in the transport direction. The front surface 75 is a front surface of the transport direction Tr1.

The rear corner portion 72 is arranged between the outer surface 71 and the rear surface 74. Further, the front corner portion 73 is arranged between the outer surface 71 and the front surface 75. The rear surface 74 has a recess 741 having a through-hole shape. Further, the front surface 75 has a recess 751 having a through hole shape. The recess 741 and the recess 751 do not have to have a through-hole shape.

The engaging convex portion 512 engages with the rear corner portion 72 and the front side corner portion 73 of the transport case 7. Since the transport case 7 has the

corners

72 and 73, the engaging protrusions 512 can be smoothly and reliably engaged with the transport case 7.

As shown in FIGS. 8 and 9, the engaging protrusion 512 has a locking protrusion 513 and an extrusion protrusion 514. The first star foil 51 rotates in the counterclockwise rotation direction Rt1 in a plan view. The locking protrusion 513 projects radially outward from the front end of the rotational outer edge of the engaging convex portion 512 in the rotational direction Rt1. Further, the extruded protrusion 514 projects radially outward from the rear end of the rotational outer edge of the engaging convex portion 512 in the rotational direction Rt1.

In the carry-out portion 310, the radial outer end portion of the engaging convex portion 512 of the first star foil 51 is engaged with the corner portions 72 and the corner portions 73 of the transport case 7 transported to the confluence transport path 120. It is arranged inside the confluence transport path 120. More specifically, the locking protrusion 513 and the extrusion protrusion 514 of the engaging protrusion 512 of the first star foil 51 come into contact with the front corner 73 and the rear corner 72 of the transport case 7.

The locking protrusion 513 comes into contact with the front corner 73 when the transport case 7 is conveyed by the merging conveyor 221. Then, the locking protrusion 513 is pushed by the front corner portion 73 as the transport case 7 is transported. As a result, the first star foil 51 rotates in the rotation direction Rt1. When the transport case 7 moves to the merge standby position Jp1 (see FIG. 1) of the merge transport path 120, the locking protrusion 513 of the first star foil 51 presses the front corner portion 73 of the transport case 7 to carry the transport case. The movement of 7 in the transport direction is restricted. As a result, the transport case 7 is temporarily stopped at the merging standby position Jp1.

When the transport case 7 is temporarily stopped at the merging standby position Jp1, the extruded protrusion 514 comes into contact with the rear corner portion 72. Then, from this state, the first star foil 51 rotates in the rotation direction Rt1, and the extrusion protrusion 514 pushes the rear corner portion 72 toward the downstream side of the transport direction Tr1. As a result, the transport case 7 is fed toward the downstream side of the transport direction Tr1.

The first star foil 51 has the configuration shown above. The second star foil 52 has a main body portion 521 and an engaging convex portion 522. The main body portion 521 corresponds to the main body portion 511 of the first star foil 51, and the engaging convex portion 522 corresponds to the engaging convex portion 512. Further, the locking protrusion 523 and the extrusion protrusion 524 of the engagement protrusion 522 correspond to the locking protrusion 513 and the extrusion protrusion 514 of the engagement protrusion 512, respectively.

The first star foil 51 and the second star foil 52 are arranged vertically so that the central axes coincide with each other. Then, in a plan view, the engaging convex portion 512 of the first star foil 51 and the engaging convex portion 522 of the second star foil 52 are arranged so as to be displaced in the circumferential direction.

<First drive unit 53 and second drive unit 54>
The first drive unit 53 and the second drive unit 54 are connected to the control unit 400 and operate based on the instructions of the control unit 400. The first drive unit 53 and the second drive unit 54 have the same configuration.

The first drive unit 53 is a power source for rotating the first star foil 51. The first drive unit 53 may include, for example, a configuration including an electric motor, but the configuration is not limited to this, and a configuration capable of rotating the first star foil 51 and the second star foil 52 is widely adopted. can do. As shown in FIG. 9, in the carry-out unit 310, the first drive unit 53 is arranged above the first star foil 51.

The second drive unit 54 is a power source for rotating the second star foil 52. Like the first drive unit 53, the second drive unit 54 may include an electric motor, or may have a configuration capable of rotating the second star foil 52 other than the electric motor. As shown in FIG. 9, in the carry-out unit 310, the second drive unit 54 is arranged below the second star foil 52.

Although not shown, the first drive unit 53 and the second drive unit 54 both have an output shaft. The first drive unit 53 and the second drive unit 54 are arranged so that the centers of the output shafts coincide with each other. That is, the first drive unit 53, the first star foil 51, the second star foil 52, and the second drive unit 54 are arranged so that their centers are arranged on the same line in this order from the top.

When the first star foil 51 temporarily stops the transport case 7, the first drive unit 53 and the second drive unit 54 operate as brakes that limit the rotation of the first star foil 51 and the rotation of the second star foil 52, respectively. You may. A brake mechanism for independently stopping the first star wheel 51 and the second star wheel 52 may be separately provided.

In the present embodiment, the first drive unit 53 and the second drive unit 54 are configured to rotate the first star foil 51 and the second star foil 52, respectively, but the present invention is not limited to this. For example, in the case of a configuration in which the first star foil 51 and the second star foil 52 can be driven synchronously by using a power transmission mechanism using gears, belts, chains, etc., the power sources may be combined into one. .. The carry-out unit 310 has the configuration shown above. The transport case 7 sent out by the carry-out section 310 is sent to the main transport path 110 by the feed section 320.

<Feeding unit 320>
Next, the details of the feed unit 320 will be described with reference to the drawings. FIG. 10 is a perspective view of the feed unit 320 provided in the delivery device 300 as viewed from below. In FIG. 10, the main conveyor 211 and the merging conveyor 221 are not shown. As shown in FIG. 10, the feed unit 320 has a transmission moving unit 61 and a contact unit 62. The delivery moving unit 61 has a side moving unit 611 and an upward moving unit 612. Further, the contact portion 62 has a first contact portion 621 and a second contact portion 622.

As shown in FIGS. 8 and 10, the lateral moving portion 611 is arranged outside the main transport path 110. The lateral moving portion 611 is, for example, a linear top chain conveyor having a vertically erected belt surface 6111. The belt surface of the lateral moving portion 611 is orthogonal to the upper belt surface of the merging conveyor 221. The upstream portion of the transport direction Tr1 of the lateral moving portion 611 is arranged above the merging transport path 120, and approaches the main transport path 110 toward the downstream side. A belt conveyor is mentioned as the lateral moving portion 611, but the present invention is not limited to this.

The upward moving portion 612 is arranged above the upper surface of the transport case 7. The upward moving portion 612 is, for example, a linear belt conveyor having belt surfaces 6121 above and below. The lower belt surface of the upward moving portion 612 faces the merging conveyor 221 vertically. The upstream side of the transport direction Tr1 of the upward moving portion 612 overlaps the merging transport path 120 vertically, and approaches the main transport path 110 toward the downstream side. The belt conveyor is mentioned as the upward moving portion 612, but the present invention is not limited to this.

The first contact portion 621 is fixed to the belt surface 6111 of the lateral moving portion 611. The first contact portion 621 has a triangular columnar shape in a plan view. Then, when the first contact portion 621 is attached to the belt surface 6111, it has a first contact surface 623 that comes into contact with the outer surface 71 of the transport case 7. The first contact surface 623 is a vertical surface, and the normal line is orthogonal to the transport direction Tr1. That is, the first contact surface 623 is tilted with respect to the belt surface 6111 of the lateral moving portion 611.

Further, the second contact portion 622 is fixed to the belt surface 6121 of the upward moving portion 612. The second contact portion 622 has a rectangular parallelepiped shape. Then, when the first contact portion 621 is attached to the belt surface 6121, it has a second contact surface 624 that comes into contact with the rear surface 74 of the transport case 7. The second contact surface 624 is a vertical surface, and the normal line is parallel to the transport direction Tr1. That is, the normal of the second contact surface 624 is inclined with respect to the moving direction of the belt surface 6121 of the upward moving portion 612.

Both the lateral moving unit 611 and the upward moving unit 612 are controlled by the control unit 400. Examples of the control of the lateral moving unit 611 and the upward moving unit 612 by the control unit 400 include, but are limited to, operation start, stop, speed adjustment, and the like of the lateral moving unit 611 and the upward moving unit 612. Not done.

The transport device A for the transported object has the configuration shown above. Next, the operation of the transport device A for the transported object will be described. First, the operations of the main transport mechanism 210, the merging transport mechanism 220, and the branch transport mechanism 230 in the main transport path 110 will be described.

<Transport operation>
The first holding shuttle 1 and the second holding shuttle 2 of the main transport mechanism 210 are used to apply a force to move the transport case 7 in the transport direction Tr1 and to stabilize the posture of the transport case 7.

As shown in FIGS. 1, 3 to 5, etc., the first holding shuttle 1 holds the rear surface 74 of the transport case 7. The second holding shuttle 2 holds the front surface 75 of the transport case 7. When the transport case 7 transports either the first straight line portion 111 or the second straight line portion 112 of the main transport path 110, the first surface push arm 12 of the first holding shuttle 1 and the rear surface 74 of the transport case 7 The second surface push arm 22 of the second holding shuttle 2 comes into contact with the front surface 75 of the transport case 7. As a result, the first holding shuttle 1 and the second holding shuttle 2 hold the transport case 7.

When the first holding shuttle 1 and the second holding shuttle 2 transport the transport case 7 in the first straight line portion 111 or the second straight line portion 112, the transport case is carried out by the first surface push arm 12 and the second surface push arm 22. 7 Holds the rear surface and the front surface of Tr1 in the transport direction. At this time, the first claw portion 16 of the first claw arm 13 and the second claw portion 26 of the second claw arm 23 are arranged inside the recess 741 and the recess 751 of the transport case 7, respectively (FIG. 3). reference). When the transport case 7 is transported along the straight line portion, the first claw portion 16 and the second claw portion 26 do not engage with the recess 741 and the recess 751, respectively.

When the transport case 7 transports either the first curved portion 113 or the second curved portion 114 of the main transport path 110, as shown in FIG. 4, the first claw arm 13 of the first holding shuttle 1 The first claw portion 16 engages with the recess 741 of the transport case 7, and the second claw portion 26 of the arm 23 with the second claw of the second holding shuttle 2 engages with the recess 751 of the transport case 7, respectively.

As shown in FIGS. 1, 3 and the like, the transport case 7 held by the first holding shuttle 1 and the second holding shuttle 2 maintains a constant posture with respect to the transport direction Tr1 and is a linear rail 3a. Is transported along. For example, as shown in FIG. 3, in a transport case 7 that moves along a linear rail 3a, the outer surface 71 faces outward in a direction intersecting the transport direction Tr1. The rear surface 74 and the front surface 75 are orthogonal to the transport direction Tr1. The posture of the transport case 7 when moving along the linear rail 3a while being held by the first holding shuttle 1 and the second holding shuttle 2 is set to the reference posture Gs (FIGS. 1 and 3). Etc.).

When the transport case 7 moves on the curved portion, the first claw portion 16 and the second claw portion 26 engage with the recess 741 and the recess 751, so that a part of the centrifugal force is applied to the first holding shuttle 1 and the second holding shuttle. Supported by 2. Further, in the main transport path 110, a guide portion 118 is provided on the outside. Therefore, the centrifugal force of the transport case 7 is also supported by the guide portion 118. As a result, the first holding shuttle 1 and the second holding shuttle 2 are prevented from falling off from the rail 3 due to the centrifugal force of the transport case 7.

When the first holding shuttle 1 and the second holding shuttle 2 hold and transport the transport case 7 at the curved portion, at least a part of the first surface push arm 12 comes into contact with the rear surface 74 of the transport case 7. do. Therefore, when the curved portion is conveyed, the transfer case 7 is conveyed by pushing the rear surface 74 by the first surface push arm 12.

<About the merging of the transport case 7 in the merging portion 115>
The transport cases 7 transported in the merging transport path 120 are temporarily stopped at the merging standby position Jp1 by the unloading unit 310, and then sent out one by one by the unloading unit 310. Then, the delivered transport case 7 is moved in the transport direction Tr1 by the force pushed from the carry-out section 310 and the merging conveyor 221 and is fed to the feed section 320. First, the operation of the carry-out unit 310 will be described, and then the operation of the feed unit 320 will be described.

<Operation of the carry-out unit 310>
The delivery of the transport case 7 by the above-mentioned carry-out unit 310 will be described with reference to the drawings. FIG. 11 is a plan view showing a state in which the first star foil 51 at time T1 holds the transport case 7 on the most downstream side in the transport direction. FIG. 12 is a plan view showing the position of the second star foil 52 at time T1. FIG. 13 is a plan view showing a state in which the first star foil 51 has sent out the transport case 7 at time T2. FIG. 14 is a plan view showing the position of the second star foil 52 at time T2.

FIG. 15 is a plan view showing a state in which the second star foil 52 at time T3 holds the transport case 7 on the most downstream side in the transport direction. FIG. 16 is a plan view showing the position of the first star foil 51 at time T3. In FIGS. 11 to 16, the second star foil 52 is subjected to dot hatching so as to be easily distinguishable from the first star foil 51. Further, in FIGS. 11 to 16, the first star foil 51 and the second star foil 52 are shown separately, but in reality, they operate in a state of being vertically overlapped as shown in FIG. 9 and the like.

As shown in FIG. 11, at time T1, the

corners

72 and 73 of the transport case 7 are engaged with the engaging protrusions 512 of the first star foil 51. As a result, the transport case 7 is temporarily stopped at the merging standby position Jp1. At this time, the first drive unit 53 applies a force to the first star foil 51 so that the first star foil 51 restricts the movement of the transport case 7. Further, a plurality of transport cases 7 are stopped in a state of being in contact with each other on the upstream side of the transport direction Tr1 from the merging standby position Jp1.

On the other hand, at the same time T1, the second star foil 52 has just sent out the previous transport case 7, and the locking protrusion 523 of the next engaging convex portion 522 in the rotation direction Rt1 keeps the momentum of sending out. It comes into contact with the corner portion 72 on the rear side of the transport case 7, which is currently suspended, and is stopped (see FIG. 12). At this time, a part of the tip of the locking protrusion 523 of the second star foil 52 overlaps with the transport case 7 in the transport direction Tr1.

Then, at time T2, the first drive unit 53 rotates the first star foil 51. As a result, in the transport case 7 that has been temporarily stopped, the rear corner portion 72 is pushed by the extrusion protrusion 514 in the transport direction Tr1. As a result, the transport case 7 is fed in the transport direction Tr1 (see FIG. 13).

When the extruded protrusion 514 pushes the transport case 7 due to the rotation of the first star foil 51, a force acts on the transport case 7 in the direction intersecting the transport direction Tr1 and the transport direction Tr1. Therefore, in the merging section 115, the merging section 115 is guided by the guide section 118 arranged between the merging transport path 120 and the main transport path 110, and is moved in the transport direction Tr1.

Then, the transport case 7 pushed from the extrusion protrusion 514 to the transport direction Tr1 moves in the transport direction by the force pushed by the extrusion protrusion 514, and is also conveyed to the transport direction Tr1 by the merging conveyor 221. By being conveyed by the merging conveyor 221 the conveyor case 7 is fed to the feeding unit 320 at a predetermined speed.

On the other hand, at the same time T2, the locking protrusion 523 of the second star foil 52 is pushed by the front corner portion 73 of the transport case 7 transported to the merging standby position Jp1 in the transport direction. As a result, the second star foil 52 rotates in the rotation direction Rt1. (See FIG. 14). At this time, the second drive unit 54 may detect the rotation of the second star foil 52, and the second drive unit 54 may apply a rotational force to the second star foil 52. At this time, the rotational force is applied to the second star foil 52 by the second drive unit 54 for a certain period of time, and is performed until the contacting transport case 7 reaches the merging standby position Jp1. You may.

As shown in FIG. 15, at time T3, the next transport case 7 reaches the merging standby position Jp1. At this time, in the second star foil 52, the engaging convex portion 522 engages with the corner portion 72 and the corner portion 73 of the transport case 7. In this state, the second drive unit 54 fixes the second star foil 52. As a result, the new transport case 7 is temporarily stopped at the merging standby position Jp1.

On the other hand, at the same time T3, the locking protrusion 513 of the engaging convex portion 512 of the first star foil 51 and the corner portion 72 on the rear side of the transport direction Tr1 of the transport case 7 temporarily stopped at the merging standby position Jp1. Contact and stop (see FIG. 16). By repeating the states of FIGS. 11 to 16 shown above, the transport case 7 transported in the merge transport path 120 is temporarily stopped at the merge standby position Jp1 and then at a timing determined by the control unit 400. , Will be sent out.

In the carry-out section 310, the first star foil 51 and the second star foil 52 are arranged so as to be overlapped on the same central axis. Then, by rotating one of the star foils, the transport case 7 temporarily stopped at the merging standby position Jp1 is sent out. At the same time, the transport case 7 transported to the merging standby position Jp1 by the other star foil is temporarily stopped. As a result, in the carry-out unit 310, the first star foil 51 and the second star foil 52 alternately stop and send the transport case 7 without interruption. That is, by using the carry-out unit 310, the carry-out case 7 is sequentially sent out at a predetermined timing.

Further, at the same time as sending out the transport case 7 from the merging standby position Jp1 with one star foil, the transport case 7 conveyed next with the other star foil is temporarily stopped at the merging standby position Jp1.

Since the first star foil 51 and the second star foil 52 are configured to operate alternately, the number of the engaging convex portions 512 of the first star foil 51 and the engaging convex portions 522 of the second star foil 52 is reduced (here). Then, it is possible to do 3 each). Therefore, the first star foil 51 and the second star foil 52 can be made smaller and lighter. Thereby, the responsiveness of the first star foil 51 to the driving force from the first driving unit 53 and the responsiveness of the second star foil 52 to the driving force from the second driving unit 54 can be enhanced. Therefore, the response delay of the first star foil 51 and the second star foil 52 is suppressed, and highly accurate delivery is possible.

<Operation of feeder 320>
The transport case 7 is sent out from the carry-out unit 310 while maintaining the reference posture Gs. Then, in the delivered transport case 7, the transport case 7 transported by the merging conveyor 221 is sent while maintaining the reference posture Gs.

The transport case 7 having the reference posture Gs is transported to the feed unit 320. The lateral moving unit 611 and the upward moving unit 612 are controlled synchronously by the control unit 400. The term "synchronization" includes, for example,, but is not limited to, the belt surface 6111 of the lateral moving portion 611 and the belt surface 6121 of the upward moving portion 612 having a constant moving speed.

The control unit 400 also adjusts the timing of movement, and the first contact unit 621 and the second contact unit 622 move while maintaining a constant relative position. More specifically, the relative distance between the first contact portion 621 and the second contact portion 622 in a state where the first contact surface 623 of the first contact portion 621 and the second contact surface 624 of the second contact portion 622 are orthogonal to each other. Move while maintaining a constant state.

In the transport case 7, the outer surface 71 is supported by the first contact surface 623 of the first contact portion 621, and the rear surface 74 is supported by the second contact surface 624 of the second contact portion 622. As a result, the transport case 7 is maintained in the reference posture Gs.

In the merging section 115, the movement of the transporting direction Tr1 of the transporting case 7 sent out from the unloading section 310 is mainly performed by the merging conveyor 221. The first contact portion 621 attached to the lateral moving portion 611 is pushed toward the main transport path 110 while the transport case 7 maintains the reference posture Gs while moving in the transport direction Tr1. Further, the second contact portion 622 attached to the upward moving portion 612 pushes the rear surface 74 of the transport direction Tr1 of the transport case 7 to assist the transport of the transport case 7 by the merging conveyor 221 while holding the reference posture Gs. To maintain. Therefore, the transport case 7 is moved along the direction inclined with respect to the transport direction Tr1 in the first straight line portion 111 while maintaining the reference posture Gs by the feed unit 320, and is fed to the main transport path 110.

In the merging section 115, the main conveyor 211 is arranged parallel to the merging conveyor 221 and adjacent to the merging conveyor 221. Then, in the feeding section 320, the transport case 7 moves from the upper part of the merging conveyor 221 to the upper part of the main conveyor 211 as it moves in the transport direction Tr1. The control unit 400 controls so that the transfer speeds of the merging conveyor 221 and the main transfer conveyor 211 match. As a result, the posture of the transport case 7 is disturbed. The transfer speed of the merging conveyor 221 and the main transfer conveyor 211 may be adjusted so that the posture of the transfer case 7 is not disturbed.

In the present embodiment, the transfer case 7 in the merging section 115 is moved to Tr1 in the transport direction by the merging conveyor 221 and the main conveyor 211, but the present invention is not limited to this. For example, if the transport case 7 can move smoothly and stably to the main transport path 110, the main transport conveyor 211 may be omitted. Further, instead of the main conveyor 211, a configuration in which rollers are spread so that the conveyor case 7 can be smoothly moved may be arranged. Further, when the transport case 7 can be moved to the main transport path 110 by the carry-out unit 310 and the feed unit 320, the merging conveyor 221 may be set to the merging standby position Jp1. Further, instead of the merging conveyor 221 in the merging portion 115, a configuration in which rollers are spread so that the transport case 7 can be smoothly moved may be arranged.

The control unit 400 is connected to the first drive unit 53 and the second drive unit 54 of the carry-out unit 310, the lateral movement unit 611 and the upward movement unit 612 of the feed unit 320, and controls these in synchronization with each other. .. First, the control unit 400 controls the first drive unit 53 and the second drive unit 54, and alternately rotates the first star foil 51 and the second star foil 52. As a result, the transport case 7 is sequentially pulled out by the first star foil 51 and the second star foil 52 at predetermined timings.

Then, the control unit 400 brings the first contact portion 621 into contact with the outer surface 71 of the transport case 7 that has reached the feed portion 320, and the lateral moving unit 622 so as to bring the second contact portion 622 into contact with the rear surface 74 of the transport direction Tr1. The 611 and the upward moving unit 612 are controlled in synchronization with the first driving unit 53 and the second driving unit 54. As a result, the transport case 7 sent out by the carry-out unit 310 can be sent to the main transport path 110 without delay.

The transport case 7 that merges with the main transport path 110 at the merging portion 115 is held by the first holding shuttle 1 and the second holding shuttle 2 of the main transport mechanism 210 with the rear surface 74 and the front surface 75. In the main transport mechanism 210, the first holding shuttle 1 and the second holding shuttle 2 move along the rail 3 and circulate in the main transport path 110 in the transport direction.

Then, a part of the transport case 7 held by the first holding shuttle 1 and the second holding shuttle 2 is sent to the branch transport path 130 by the branch portion 116, and the rest is first passed through the second curved portion 114. It returns to the straight line portion 111, that is, the adjustment standby position Sp1. A part of the first holding shuttle 1 and the second holding shuttle 2 moves to the adjustment standby position Sp1 while holding the transport case 7. In the merging section 115, the first holding shuttle 1 and the second holding shuttle 2 that do not hold the transport case 7 can hold the transport case 7 sent out from the delivery device 300.

Therefore, the control unit 400 confirms whether or not the first holding shuttle 1 and the second holding shuttle 2 hold the transport case 7 based on the monitoring information from the monitoring unit 212. The control unit 400 determines that the transport case 7 is not held, and the first holding shuttle 1 and the second holding shuttle 2 pass the adjustment standby position Sp1. The control unit 400 controls the first holding shuttle 1 and the second holding shuttle 2 that have passed so as to sandwich and hold the rear surface 74 and the front surface 75 of the transport case 7 at the merging unit 115.

If it is determined that the first holding shuttle 1 and the second holding shuttle 2 hold the transport case 7, the first holding shuttle 1 and the second holding shuttle 2 are temporarily put on standby at the adjustment standby position Sp1. Then, the control unit 400 joins the first holding shuttle and the second holding shuttle 2 holding the transport case 7 from the adjustment standby position Sp1 so as not to interfere (contact, etc.) with the transport case 7 sent from the delivery device 300. Move to 115.

At this time, the control unit 400 moves the first holding shuttle 1 and the second holding shuttle 2 at a timing in which the held transport case 7 does not come into contact with the first contact portion 621 and the second contact portion 622 of the feed unit 320. Alternatively, the speed may be adjusted after moving to the merging portion 115 so as not to come into contact with each other.

With such a configuration, the transport case 7 can be held by all of the first holding shuttle 1 and the second holding shuttle 2 sent to the merging portion 115. As a result, it is possible to eliminate the first holding shuttle 1 and the second holding shuttle 2 that are sent to the first working unit St1 without holding the transport case 7, and it is possible to improve the efficiency of work.

In the present embodiment, the first contact portion 621 is attached to the lateral moving portion 611, and the second contact portion 622 is attached to the upward moving portion 612, but the present invention is not limited thereto. For example, the first contact portion 621 and the second contact portion 622 may be attached to one delivery moving portion 61. When there is one transmission moving unit 61, it may be a lateral moving unit or an upward moving unit. Further, it may be arranged at a position other than these.

<Operation in branch 116>
In the transport device A, as described above, in the first working unit St1 arranged in the middle of the second straight line portion 112, the work of arranging the container Cv with respect to the transport case 7 is performed. Then, the transport case 7 in which the container Cv is arranged in the first working section St1 is sent to the second working section St2 including the next manufacturing process via the branch transport path 130. The container Cv is sent to the first working unit St1 from another manufacturing process (not shown). Then, the sent container Cv is placed in the transport case 7.

In the first working unit St1, the number of containers Cv may be small and the container Cv may not be arranged in the transport case 7. In this case, the control unit 400 may stop the transport case 7 at the first working unit St1 and wait for the container Cv to be sent. On the other hand, when the number of transport cases 7 is large, if the transport case 7 is stopped at the first working unit St1 until the container Cv is sent, the transport cases 7 to be transported later are accumulated and the transport case 7 is stagnant. Will end up.

Therefore, when the container Cv is insufficient, the control unit 400 controls the main transfer mechanism 210 so that the transfer case 7 passes through the first work unit St1 so that the transfer case 7 does not accumulate in the first work unit St1. .. As a result, in the transport direction Tr1, the transport case 7 in which the container Cv is arranged and the transport case 7 in which the container Cv is not arranged are transported to the branch portion 116 located on the downstream side of the transport case 7.

The details of the operation in the branch portion 116 will be described. FIG. 17 is a flowchart showing the operation of the main transport mechanism 210 in the branch portion 116. The control unit 400 acquires state information indicating the state of the transport case 7 transported from the state detection unit 232 to the run-up area 117 (step S101). The state information includes, but is not limited to, information on whether or not the container Cv is arranged in the transport case 7, for example. Other information may be included. The state information includes information for determining whether or not to send the transport case 7 to the second working unit St2.

The control unit 400 determines whether or not the container Cv is arranged in the transport case 7 based on the state information from the state detection unit 232 (step S102). When the container Cv is not arranged in the transport case 7 (No in step S102), the control unit 400 maintains the operations of the first holding shuttle 1 and the second holding shuttle 2 (step S103), and performs a branch operation. finish.

By maintaining the operation of the first holding shuttle 1 and the second holding shuttle 2, the transport case 7 is transported in a state of being held by the first holding shuttle 1 and the second holding shuttle 2. Then, the first holding shuttle 1 and the second holding shuttle 2 move from the second straight line portion 112 to the second curved line portion 114 at the branch portion 116. At this time, the first claw portion 16 of the first holding shuttle 1 and the second claw portion 26 of the second holding shuttle 2 engage with the recess 741 and the recess 751 of the transport case 7. As a result, the first holding shuttle 1 and the second holding shuttle 2 pull the transport case 7 toward the second curved portion 114 side.

Further, when it is determined from the state information that the container Cv is arranged in the transport case 7 (Yes in step S102), the control unit 400 confirms whether or not the transport case 7 has reached the approach region 117 (in the case of Yes). Step S104). The control unit 400 waits until the transport case 7 reaches the approach area 117 (when No in step S104, step S104 is repeated).

As described above, in the run-up area 117, the lower surface of the transport case 7 is supported by the branch conveyor 231. In the run-up area 117, the transport case 7 is transported by the first holding shuttle 1, the second holding shuttle 2, and the branch conveyor 231. At this time, the transfer speed of the branch conveyor 231 is the same as the transfer speed of the first holding shuttle 1 and the second holding shuttle 2. However, the present invention is not limited to this, and as shown below, when the first holding shuttle 1 and the second holding shuttle 2 are separated from the conveying case 7, the conveying case 7 is stably conveyed by the branch conveyor 231. , The transfer speed of the branch conveyor 231 and the first holding shuttle 1 and the second holding shuttle 2 may be determined.

When the transport case 7 reaches the run-up area 117 (Yes in step S104), the control unit 400 controls the linear motor driver 43 to accelerate the second holding shuttle 2 (step S105). As a result, the second surface push arm 22 and the second claw arm 23 of the second holding shuttle 2 are separated from the front surface 75 of the transport case 7.

Further, the control unit 400 controls the linear motor driver 43 to decelerate the first holding shuttle 1 (step S106). As a result, the first surface pushing arm 12 and the first claw-attached arm 13 of the first holding shuttle 1 are separated from the rear surface 74 of the transport case 7. As a result, the first holding shuttle 1 and the second holding shuttle 2 are separated from the transport case 7.

Then, the transfer case 7 is conveyed toward the branch transfer path 130 by the branch conveyor 231. In the branch transport path 130, the transport case 7 is guided and transported by the branch guide unit 131. By being guided by the branch guide unit 131, the transport case 7 is transported in the branch transport path 130 while maintaining the reference posture Gs.

In the branch portion 116, the branch guide portion 131 is formed so that the upstream side of the transport direction Tr1 becomes wider. By forming in this way, even if the transport case 7 is displaced or the posture is disturbed when the first holding shuttle 1 and the second holding shuttle 2 are separated from the transport case 7, the posture and position are accurate. It is possible to modify and enter the inside of the branch transfer path 130.

The transport case 7 in which the container Cv is arranged is transported in the branch transport path 130 and reaches the curved transport path 140. The curved transport path 140 is housed inside the second working unit St2. In the present embodiment, the transport case 7 is transported along the curved transport path 140 by a transport mechanism provided in the second working portion St2, for example, a transport wheel having a recess on the outer peripheral surface into which the transport case 7 can be fitted. Ru.

Then, the second working unit St2 covers the container Cv arranged in the transport case 7 and transported, and moves only the container Cv to the outside of the transport device A. The transport case 7 is sent out from the curved transport path 140 to the merging transport path 120 in a state where the container Cv is not arranged inside. After that, the transport case 7 is transported in the merging transport path 120 again and merges from the merging portion 115 to the main transport path 110.

As shown above, when the transport case 7 is in the main transport path 110, it is sandwiched by the first holding shuttle 1 and the second holding shuttle 2 from the front and back of the transport direction Tr1. The first holding shuttle 1 and the second holding shuttle 2 can be operated independently by the linear motor driver 43. Therefore, in the merging portion 115, the transport case 7 can be easily and surely transferred from the delivery device 300 to the main transport mechanism 210.

Similarly, it is possible to easily and surely switch the transport direction of the transport case 7 in the branch portion 116 only by changing the transport speeds of the first holding shuttle 1 and the second holding shuttle 2.

Although the branch conveyor 231 has been described as an example of the branch transfer mechanism 230, the present invention is not limited to this. For example, a linear motor may operate along the branch transport path 130 and have a shuttle having the same configuration as the first holding shuttle 1 and the second holding shuttle 2. In this case, the shuttle of the branch transfer mechanism 230 may be held from the side surface of the main transfer mechanism 210 opposite to the first holding shuttle 1 and the second holding shuttle 2. Further, it may be configured to be held from the lower surface.

Further, in the present embodiment, the transport case 7 transported in the branch transport path 130 is configured to return to the merging transport path 120 via the curved transport path 140, but the present invention is not limited to this. The branch transfer path 130 may send the transfer case 7 to another device outside the transfer device A. At this time, in the merging transfer path 120, the transfer case 7 may be sent from another external device, or the transfer case 7 may be separately stored and the transfer case 7 may be sequentially sent out.

As shown above, by integrating and controlling the transport path 100, the transport mechanism 200, and the delivery device 300 by the control unit 400, the transport case 7 may be stagnant in a part of the transport path 100, or the transport case 7 may be stagnant. The transport case 7 can be stably transported for a long period of time without falling off to the outside.

The monitoring unit 212 and the state detection unit 232 shown above may be configured to irradiate light and detect the state in the light detection state, or to capture an image using an image pickup element and capture image data. May be sent to the control unit 400.

Further, in the present embodiment, the configuration is such that the monitoring unit 212 is provided, but the present invention is not limited to this. In the main transport path 110, the transport case 7 returning to the first straight line portion 111 is selected by the branch portion 116. Therefore, it is also possible to acquire the holding state of the transport case 7 by the first holding shuttle 1 and the second holding shuttle 2 that reach the adjustment standby position Sp1 based on the operation in the branch portion 116. Therefore, the monitoring unit 212 may be omitted. In the present embodiment, the accuracy is further improved by using both the information based on the operation in the branch portion 116 and the information from the monitoring unit 212.

Although the embodiments of the present invention have been described above, the present invention is not limited to this content. Further, the embodiments of the present invention can be modified in various ways as long as they do not deviate from the gist of the invention.

100 Conveyor path 110 Main transport path 111 1st straight section 112 2nd straight section 113 1st curved section 114 2nd curved section 115 Confluence section 116 Branch section 117 Approach area 118 Guide section 119 Bottom guide section 120 Confluence transport path 121 Confluence guide Part 130 Branch transport path 131 Branch guide section 140 Curved transport path 200 Transport mechanism 210 Main transport mechanism 211 Main transport conveyor 212 Monitoring unit 1 1st holding shuttle 11 Main body 12 1st surface push arm 13 1st claw arm 14 Upper roller 15 Lower roller 16 1st claw 2 2nd holding shuttle 21 Main body 22 2nd surface push arm 23 2nd claw arm 24 Upper roller 25 Lower roller 26 2nd claw 3 Rail 3a Rail 3b Rail 31 Main rail 32 Grooved rail part 33 Flat rail part 4 Linear drive part 41 Coil 42 Magnet 43 Control part 44 Linear motor driver 220 Confluence transfer mechanism 221 Confluence conveyor 230 Branch transfer mechanism 231 Branch conveyor 232 Condition detection unit 300 Sending device 310 Delivery unit 51 1st Star wheel 511 Main body part 512 Engagement convex part 513 Locking protrusion 514 Extruded protrusion 52 Second star wheel 521 Main body part 522 Engaging convex part 523 Locking protruding part 524 Extruded protrusion 53 First drive part 54 Second drive Part 320 Feeding part 321 Groove part 61 Sending moving part 611 Side moving part 6111 Belt surface 612 Upward moving part 6121 Belt surface 62 Contact part 621 First contact part 622 Second contact part 623 First contact surface 624 Second contact surface 400 Control Part 401 Processing circuit 402 Storage circuit A Conveyor device 7 Conveyor case Cv container Gs Reference posture Jp1 Confluence standby position Rt1 Rotation direction Sp1 Adjustment standby position St1 1st working part St2 2nd working part Tr1 Transport direction

Claims

A device for delivering a rectangular parallelepiped object to be transported, which moves along a merging transport path extending parallel to the main transport path, from the merging transport path to the main transport path.
A plurality of contact portions that come into contact with the object to be transported,
It has a delivery moving unit that moves the plurality of contact portions from the merging transport path toward the main transport path.
The contact part is
The first contact portion that comes into contact with the side surface of the object to be transported opposite to the main transport path,
It has a second contact portion that comes into contact with the rear side surface in the transport direction of the object to be transported.
The plurality of contact portions are delivery devices for objects to be transported, which are arranged at equal intervals in the delivery moving portion.
The delivery device for a transported object according to claim 1, wherein the first contact portion has a first contact surface that makes surface contact with a side surface opposite to the main transport path of the transported object.
The delivery device for a transported object according to claim 1 or 2, wherein the second contact portion has a second contact surface that comes into contact with the rear side surface in the transport direction.
The transmission moving unit is
An upward moving portion arranged above the object to be transported and in which the second contact portion is arranged,
It has a lateral moving portion that is arranged so as to face the surface of the object to be transported opposite to the main transport path and in which the first contact portion is arranged.
The object to be transported according to any one of claims 1 to 3, wherein the moving speed of the second contact portion by the upward moving portion and the moving speed of the first contact portion by the lateral moving portion are constant. Sending device.
The delivery device for a transported object according to claim 4, wherein both the upward moving portion and the lateral moving portion are belt conveyors.
Further having a linear transport section including a transport shuttle that is arranged along the main transport path and moves in the transport direction while holding the front and rear surfaces in the transport direction of the object to be transported.
4. Delivery device for the transported object.