JP2018172141A - Article conveyance device and article conveyance method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To keep gripping a container even at an inversion path in a conveying device in which a gripper travels on an elliptic conveying path while the gripper grips the bag-like container.SOLUTION: A conveying device 1 according to the present invention includes: a pair of straight line paths 11 and 13 disposed so as to be opposed to each other; a conveying path 10 having a pair of arcuate inversion paths 15 and 17 for connecting each of the one ends and the other ends of the pair of straight line paths 11 and 13; a pair of arms 23A and 23B; and a plurality of grippers 20 having a pair of gripping claws 25A and 25B disposed at a tip side of each of the pair of arms, and travelling along the conveying path 10 while gripping a container 80 by the pair of gripping claws 25A and 25B; and an adjustment mechanism for narrowing an interval at an inversion path 15 and 17 of the pair of arms 23A and 23B when the gripper 20 moves from the straight line paths 11 and 13 to the inversion path 15 and 17.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an article conveying apparatus that conveys a container made of a resin bag while grasping both ends thereof with a gripper called a gripper.

  Products in which containers made of resin bags are filled with product liquids such as beverages and medical liquids are widely used. When manufacturing this product, various processes such as opening the opening of the container and filling the product liquid from the opened opening are carried out while the container is gripped and conveyed. For example, in Patent Document 1, a pouch with a spout is sterilized by being irradiated with an electron beam while being transported by a transport chain, and then filled with a product liquid. In Patent Document 1, a spout of a pouch is conveyed while being suspended by a chain.

  For example, in order to perform the operation of opening the opening of the bag-like container, it is not enough to suspend the container, but it is necessary to grip both sides in the width direction of the container with grippers and to narrow the gap between these grippers.

JP 2003-072717 A JP 2000-072255 A

  As an apparatus for conveying while holding a container, for example, there are a circular conveyance path disclosed in Patent Document 2 and an elliptic conveyance path. As illustrated in FIG. 8, the elliptical conveyance path 100 includes linear straight paths 101 and 103 that face each other, and an arc-shaped reversing path 105 that connects one ends of the straight paths 101 and 103. The grippers 110 and 110 that travel on the transport path 100 include arms 111 and 111 and grip portions 113 and 113 provided on the distal ends of the arms 111 and 111, respectively.

  The arms 111 and 111 are configured to be orthogonal to the straight paths 101 and 103 and the reverse path 105 in terms of mechanism. Therefore, if the grippers 110 and 110 move to the reversing path 105 while maintaining the distance between the arms 111 and 111 on the straight path 101, the distance between the gripping portions 113 and 113 is increased and exceeds the width of the container 80. 80 cannot be gripped. Therefore, conventionally, the conveyance in the reversing path 105 is abandoned, and only the straight path 101 or 103, for example, the container 80 is transported on the straight path 101. Therefore, if the processing to the container 80 is not completed with the straight path 101 alone, an independent transfer device is provided on the downstream side, and the processing is performed after the container 80 is delivered to the downstream side.

However, there are cases where two transport devices cannot be provided side by side upstream and downstream due to the installation space of the filling line, and the provision of two transport devices causes an increase in the cost of the filling line.
As described above, an object of the present invention is to provide a transport apparatus that can continue to grip a container even in a reverse path in a transport apparatus that travels on an elliptical transport path while gripping a bag-shaped container with a gripper. And

  The article conveying apparatus of the present invention includes a pair of linear paths arranged opposite to each other, and a pair of arc-shaped reversing paths that connect one end and the other end of the pair of linear paths, A plurality of grippers that have a pair of arms and a pair of gripping claws provided on the respective distal ends of the pair of arms, and run along the conveyance path while gripping an article with the pair of gripping claws; An adjustment mechanism that narrows the distance between the pair of arms on the reversing path when the gripper moves from the straight path to the reversing path.

When the gripper moves from the reversing path to the straight path, the adjusting mechanism in the article transporting apparatus of the present invention can restore the interval between the pair of arms on the reversing path.
Moreover, the adjustment mechanism in the article transporting apparatus of the present invention may maintain the interval between the pair of gripping claws in the straight path in the reversing path or narrow it.

The pair of arms in the article transporting apparatus of the present invention includes a preceding arm in front of the traveling direction and a subsequent arm in the rear of the traveling direction, and the adjusting mechanism independently controls the traveling speed of the preceding arm and the following arm. A linear motor capable.
This adjusting mechanism can control the traveling speed of the preceding arm and the succeeding arm so that when the gripper moves from the straight path to the reversing path, the distance between the pair of arms on the reversing path can be controlled narrowly.
In addition, this adjustment mechanism can control the distance between the pair of arms on the reverse path when the gripper moves from the straight path to the reverse path by controlling the traveling positions of the preceding arm and the subsequent arm.

When controlling the traveling speed, the traveling speed of each of the preceding arm and the succeeding arm on the straight road is set to V _A1 and V _B1, and the traveling speed of each of the preceding arm and the following arm on the reversing path is set to V _A2 , V Assuming _B2 , the adjustment mechanism may control the traveling speed V _A2 to be slower than the traveling speed V _A1 .
At this time, the adjustment mechanism controls the traveling speed V _B2 to be equal to or higher than the traveling speed V _B1 .

In the case of controlling the traveling speed, the traveling speed of each of the preceding arm and the succeeding arm on the straight road is set to V _A1 and V _B1, and the traveling speed of each of the preceding arm and the following arm on the reversing path is set to V _{Assuming A2} and _VB2 , the adjusting mechanism may control the traveling speed _VB2 faster than the traveling speed _VB1 .
At this time, the adjustment mechanism controls the traveling speed V _A2 to be equal to or lower than the traveling speed V _A1 .

The adjustment mechanism according to the present invention can narrow the distance between the pair of arms on the reverse path when the gripper moves from the straight path to the reverse path by controlling the traveling positions of the preceding arm and the subsequent arm.
When controlling the travel position, the positions of the preceding arm and the succeeding arm on the travel line on the straight path with reference to a predetermined origin position on the transport path are X _A1 and X _B1, and on the travel line on the reverse path And X _A2 and X _B2
Interval P1 = X _A1 −X _B1 P1 = constant,
Interval P2 = X _A2 −X _B2 P2 = constant,
Then, the adjustment mechanism may control the interval P2 to be smaller than the interval P1.

According to the article conveying apparatus of the present invention, when the gripper moves from the straight path to the reversing path, the adjusting mechanism works to narrow the interval between the pair of arms on the reversing path. Therefore, according to the article transporting apparatus of the present invention, the distance between the pair of gripping claws can be maintained or narrowed in the reversing path even in the reversing path. Then, the conveyance can be continued while holding the article.
Therefore, according to the article transporting apparatus of the present invention, the predetermined processing can be executed on the article transporting apparatus through both of the pair of straight paths, so that the installation space can be saved as compared with the case where another article transporting apparatus is provided. In addition, the cost of the entire apparatus can be reduced.

It is a top view which shows schematic structure of the conveying apparatus which concerns on 1st Embodiment of this invention. It is a figure which shows the gripper and tilting mechanism which concern on the conveying apparatus of 1st Embodiment. Fig. 2 shows the gripper of Fig. 2, (a) is a plan view, (b) is a rear view, (c) is a view taken along line (c)-(c) of (a), and (d) is (a). (D)-(d) It is a line arrow directional view. It is a modification of 1st Embodiment, Comprising: It is a top view which shows the gripper which drive | works a straight road. It is a modification of 1st Embodiment, Comprising: It is a top view which shows the gripper which drive | works the inversion road. It is a top view which shows schematic structure of the conveying apparatus which concerns on 2nd Embodiment of this invention. It is a figure which shows operation | movement of the gripper of the conveying apparatus of 2nd Embodiment. It is a figure explaining the malfunction of the container holding | grip in an inversion path.

[First Embodiment]
Hereinafter, a first embodiment of the present invention will be described with reference to the accompanying drawings.
As illustrated in FIG. 1, the transport device 1 according to the first embodiment controls a transport path 10 having an elliptical circular path, a plurality of grippers 20 that move along the transport path 10, and travel of the gripper 20. And a controller 70. The conveying device 1 conveys along the conveying path 10 while grasping both widthwise ends of the bag-like container 80 as an article with the pair of gripping claws 25A, 25B of the gripper 20, and the pair of gripping claws 25A, 25A, The container 80 can be conveyed from the straight path 11 to the reversing path 15 and from the reversing path 15 to the straight path 11 while holding the container 80 at 25B.
Hereinafter, after describing the configuration of the transport apparatus 1, effects produced by the transport apparatus 1 will be described.

[Conveyance path 10]
As illustrated in FIG. 1, the conveyance path 10 includes linear paths 11 and 13 that are parallel to each other that form the main body of the conveyance path 10, and an arc-shaped reversal path 15 that connects one end of each of the linear path 11 and the straight path 13; An arcuate inversion path 17 that connects the other ends of the straight path 11 and the straight path 13.
The straight path 11 and the straight path 13 are arranged to face each other with a predetermined interval in the width direction W, and the reversing path 15 and the reversing path 17 are arranged to face each other with a predetermined interval in the longitudinal direction L. Yes.

The conveyance path 10 conveys the container 80 counterclockwise in FIG. 1 in the order of the straight path 11, the reverse path 15, and the straight path 13.
The conveyance path 10 conveys the container 80 received by the straight path 11 in the order of the straight path 11, the reversing path 15, and the straight path 13, and is predetermined in the processing area A of the straight path 11 and the processing area B of the straight path 13. Perform the process. The container 80 that has finished processing in the processing region B is delivered downstream from the straight path 13 before reaching the reversing path 17.

  The conveyance path 10 is provided with an electromagnetic coil, which is one element of a linear motor, on a circular path composed of straight paths 11 and 13 and reversing paths 15 and 17. The permanent magnet, which is the other element of the linear motor, is provided on the movers 21A and 21B of each gripper 20, and the conveyance path 10 and the gripper 20 constitute a linear motor.

  The transport path 10 can transport the reversing path 15 while holding the container 80 transported along the straight path 11 with the gripper 20. This is possible because the tilting mechanism 30 associated with the gripper 20 operates when the gripper 20 reaches the reversing path 15.

[Gripper 20]
The gripper 20 moves the transport path 10 while gripping the container 80 to transport the container 80. As shown in FIG. 1, the conveyance device 1 is provided with a plurality of grippers 20 along the conveyance path 10, and each gripper 20 constitutes a linear motor together with the conveyance path 10. The movement of the transport path 10 is controlled independently.

  As shown in FIGS. 1 and 2, the gripper 20 includes a pair of movers 21A and 21B, arms 23A and 23B provided on the respective movers 21A and 21B, and gripping claws provided on the respective arms 23A and 23B. 25A, 25B.

  The movers 21 </ b> A and 21 </ b> B move along the conveyance path 10, and each includes a permanent magnet that is an element of a linear motor. Accordingly, the movable element 21A and the movable element 21B operate together when the container 80 is transported, but the movement speed is controlled independently of each other. For example, the controller 70 can move the mover 21A faster than the mover 21B, and conversely can move the mover 21A slower than the mover 21B.

  The movers 21 </ b> A and 21 </ b> B travel along the conveyance path 10 through the straight path 11, the straight path 13, the reversing path 15, and the reversing path 17 with a constant posture with respect to the conveying path 10. Specifically, the movers 21 </ b> A and 21 </ b> B travel on the conveyance path 10 while maintaining an orthogonal posture with respect to the conveyance path 10. This causes a gripping failure of the container 80 in the reversing path 15, but since the first embodiment has a function of tilting the gripper 20, the gripper 20 remains gripping the container 80 also in the reversing path 15. Can run.

The arms 23A and 23B are provided such that their root portions are swingable with respect to the movable elements 21A and 21B, and a pair of gripping claws 25A and 25B are provided at the tip portions.
Each of the arms 23A and 23B travels along the transport path 10 as the movers 21A and 21B travel, and transports the container 80 via the grip claws 25A and 25B. The arms 23 </ b> A and 23 </ b> B are parallel to each other when traveling on the straight paths 11 and 13 in the transport path 10, with the axis directions orthogonal to the straight paths 11 and 13. However, the arms 23 </ b> A and 23 </ b> B are inclined inwardly facing each other when traveling on the reversing road 15.

The grip claws 25 </ b> A and 25 </ b> B each grip both ends of the container 80 in the width direction.
The gripping claws 25A and 25B are controlled to be opened and closed by a driving source (not shown). When the gripping claws 25A and 25B are closed, the container 80 is gripped.

[Tilt mechanism 30]
The tilting mechanism 30 includes a cam mechanism, and when the gripper 20 moves from the straight path 11 to the reversing path 15, an interval between the gripper 20 gripping the container 80 by tilting the arms 23 </ b> A and 23 </ b> B inward. Is kept the same as in the straight road 11. Hereinafter, the tilting mechanism 30 will be described with reference to FIGS. 2 and 3.

  As shown in FIG. 2, the tilt mechanism 30 tilts the arms 23 </ b> A and 23 </ b> B inward by an arcuate cam rail 45 and the cam followers 35 </ b> A and 35 </ b> B provided along the reversing path 15. As shown in FIGS. 3C and 3D, the tilt mechanism 30 is provided with two cam rails 45 at a predetermined interval in the vertical direction V. In the reversing path 17 where the gripper 20 does not hold the container 80, the arms 23A and 23B do not need to be tilted, and therefore the cam rail 45 is not provided in the reversing path 17.

The tilt mechanism 30 includes brackets 31A and 31B corresponding to the arms 23A and 23B, respectively. The brackets 31A and 31B support the movable elements 21A and 21B and the arms 23A and 23B, and are engaged with the cam rail 45.
Each of the brackets 31A and 31B includes cam support plates 32A and 32B. The cam support plates 32A and 32B respectively support the cam followers 35A and 35B in a rotatable manner. The cam support plate 32A of the bracket 31A is provided below the vertical direction V, and the cam support plate 32B of the bracket 31B is provided above the vertical direction V.

Each of the brackets 31A and 31B includes guide plates 33A and 33B. The guide plates 33A and 33B are provided to prevent the distance between the arms 23A and 23B from expanding more than necessary due to the influence of the helical springs 37A and 37B when the gripper 20 travels on the straight paths 11 and 13. .
The guide plates 33A and 33B are fixed to the arms 23A and 23B and the brackets 31A and 31B so as not to change their positions, and the guide plates 33A and 33B abut against the stoppers 41A and 41B, thereby preventing the distance between the arms 23A and 23B from expanding.

  The brackets 31A and 31B are swingably provided on the movers 21A and 21B via the rotation shafts 34A and 34B, respectively. The brackets 31A and 31B change the posture with respect to the movers 21A and 21B when traveling on the straight roads 11 and 13 and traveling on the reversing roads 15 and 17 with the rotation shafts 34A and 34B as the center.

  The cam followers 35 </ b> A and 35 </ b> B are in contact with the cam rail 45 and receive an external force when the gripper 20 travels on the reverse path 15. This external force imparts a rotational moment M to the cam support plates 32A and 32B, thereby tilting the arms 23A and 23B inward.

As shown in FIGS. 3C and 3D, the helical springs 37A and 37B are integrally formed with spring support protrusions 39A and 39B and arms 23A and 23B, which are integrally fixed to the movers 21A and 21B, respectively. It is spanned between spring support protrusions 38A and 38B.
The arms 23A and 23B on which the helical springs 37A and 37B are hung are separated from each other as shown in FIG. 3A because the helical springs 37A and 37B are arranged outside the rotation shafts 34A and 34B. A rotational moment M is generated in the direction, that is, outward. However, when the guide plates 33A and 33B are in contact with the stoppers 41A and 41B, the arms 23A and 23B are regulated so as not to incline outward from positions parallel to each other. Thereby, the arms 23A and 23B can grip the container 80 at intervals at which the grip claws 25A and 25B are determined.

  As shown in FIG. 2, the cam rail 45 is formed so that the region 47 corresponding to the reversing path 15 is wider than the region 46 corresponding to the straight paths 11 and 13. The cam followers 35 </ b> A and 35 </ b> B of the tilting mechanism 30 are separated from each other without contacting the cam rail 45 in the region 46, but hit the cam rail 45 when reaching the region 47.

The tilting mechanism 30 having the above configuration operates as follows.
As shown in FIG. 2, the gripper 20 traveling on the straight roads 11 and 13 has no cam rail 45 on the straight roads 11 and 13, so the arms 23 </ b> A and 23 </ b> B are parallel to each other. Each of the arms 23A and 23B receives a rotational moment M directed outward, but the arms 23A and 23B do not extend outward beyond that when the guide plates 33A and 33B abut against the stoppers 41A and 41B.
On the other hand, as shown in FIG. 2, in the gripper 20 traveling on the reverse path 15, the cam followers 35 </ b> A and 35 </ b> B come into contact with the cam rail 45, and the arms 23 </ b> A and 23 </ b> B are inclined inward against the rotational moment M.

The interval between the gripper 20 traveling on the straight roads 11 and 13 and the gripper 20 traveling on the reversing road 15 will be described. As shown in FIG. 7, the movable element 21A in the traveling line _{L M} of the straight path 11, the distance 21B as interval P1, the movable element 21A in the traveling line _{L M} of the reverse path 15, the interval spacing on the circumference of 21B Let P2. Further, the distance between the gripping claws 25A and 25B when traveling on the straight roads 11 and 13 is Q1, and the distance between the gripping claws 25A and 25B when traveling on the reversing paths 15 and 17 is Q2.

In the first embodiment, the arms 23 </ b> A and 23 </ b> B are tilted inward when traveling on the reversing road 15 using the tilt mechanism 30. Therefore, the distance between the gripping claws 25A and 25B is equal when traveling on the straight road 11 and when traveling on the reversing road 15, and can be maintained at Q1 = Q2. Thereby, the arm 23A and the arm 23B can maintain a mutually parallel state also when drive | working the inversion road 15. FIG.
Further, the distance between the rotary shafts 34A and 34B, that is, the distance between the arms 23A and 23B on the reversing path 15 can be maintained equally at P1 = P2 when traveling on the straight road 11 and traveling on the reversing path 15.

  When the gripper 20 traveling on the reverse path 15 moves to the straight paths 11 and 13, the cam followers 35 </ b> A and 35 </ b> B are separated from the cam rail 45, so that the inward inclination of the arms 23 </ b> A and 23 </ b> B by the tilt mechanism 30 is solved.

[Effect of the first embodiment]
As described above, when the gripper 20 moves from the straight path 11 to the reversing path 15, the transport apparatus 1 operates the tilt mechanism 30 so that the pair of arms 23 </ b> A and 23 </ b> B tilts inward and grips the container 80. The distance between the claws 25A and 25B is maintained the same as that in the straight path 11. Thus, according to the transport device 1, the transport can be continued while holding the container 80 also in the reverse path 15 following the straight path 11.
Therefore, according to the transport apparatus 1, since the processing area A and the processing area B for executing a predetermined process can be provided in the container 80 in both the straight path 11 and the straight path 13, another transport apparatus is provided. Compared to the above, the installation space can be saved and the cost can be reduced. In addition, since processing can be continuously performed in the processing area A and the processing area B by one transport apparatus 1, the processing capability is higher than that of providing another transport apparatus that requires a delivery operation.

  In addition, according to the transport device 1, the arms 23 </ b> A and 23 </ b> B are also parallel in the reversing path 15, so that the gripping claws 25 </ b> A and 25 </ b> B and the container 80 are aligned in a straight line, and the container 80 is not bent.

In addition, although the example which maintains the space | interval of the holding claws 25A and 25B was shown above, even if it is narrower than the space | interval at the time of the straight path 11, the holding | grip of the container 80 can be continued. Therefore, according to the present invention, as long as the gripping of the container 80 can be continued, the interval between the gripping claws 25A and 25B may be maintained or narrowed.
Moreover, although the example which maintains the space | interval on the inversion path 15 of arm 23A, 23B was shown above, as long as the holding | grip of the container 80 can be continued, the said space | interval may be maintained and may be narrowed.

[Modification of First Embodiment]
The mechanism for inclining the arms 23A and 23B is not limited to that shown in FIGS. 2 and 3, and the tilting mechanism shown in FIGS. 4 and 5 can be used.
The example shown in FIGS. 4 and 5 is also common to the first embodiment in that it includes a tilt mechanism 50 that applies an external force to the arms 23A and 23B using a cam. 4 shows how the gripper 20 travels on the straight road 11, and FIG. 5 shows how the gripper 20 travels on the reverse path 15 and the arms 23A and 23B are inclined inward.

The tilting mechanism 50 according to the modification uses eccentric cams 51A and 51B, and causes the arms 23A and 23B to function as cam followers.
The eccentric cams 51A and 51B are provided corresponding to the arms 23A and 23B, respectively. The eccentric cams 51A and 51B form flat surfaces 52A and 52B by notching a part of a member having a circular outer shape. When the arms 23A and 23B are upright, the flat surfaces 52A and 52B are abutted against the surfaces of plate-like followers 53A and 53B attached to the arms 23A and 23B, as shown in FIG.

  The tilting mechanism 50 includes swinging arms 54A and 54B that support the eccentric cams 51A and 51B and have the centers of the eccentric cams 51A and 51B as the rotation shafts 55A and 55B. Each of the swing arms 54A and 54B includes pressing rolls 56A and 56B on the distal end side away from the rotation shafts 55A and 55B. When the pressing rolls 56A and 56B receive an external force F by an actuator (not shown), the swing arms 54A and 54B rotate the rotation shafts 55A and 55B clockwise and counterclockwise by a predetermined angle, respectively.

The arms 23A and 23B include tilting shafts 57A and 57B in the vicinity of the rear ends, and swing around the tilting shafts 57A and 57B.
A support block 62A that supports the rotation shaft 55A and the tilt shaft 57A is provided, and a support block 62B that supports the rotation shaft 55B and the tilt shaft 57B is provided. The support block 62A is fixed to the mover 21A, and the support block 62B is fixed to the mover 21B.
The arms 23A and 23B include support ends 58A and 58B that support one ends of the helical springs 59A and 59B in the vicinity of the rear ends. The other ends of the helical springs 59A, 59B are fixed to fixed ends 61A, 61B provided on the movers 21A, 21B.
The helical springs 59A and 59B apply a tensile force between the support ends 58A and 58B and the fixed ends 61A and 61B when the arms 23A and 23B are upright.

  Now, while the gripper 20 is traveling on the straight road 11, the pressing rolls 56A and 56B do not receive an external force F from an actuator (not shown). Accordingly, since the support ends 58A and 58B receive the tensile force from the helical springs 59A and 59B, as shown in FIG. 4, the arms 23A and 23B exert a force in such a direction that the distal end side where the gripping claws 25A and 25B are provided opens. receive. However, since the followers 53A and 53B are supported by the eccentric cams 51A and 51B, the arms 23A and 23B are maintained parallel to each other.

  When the gripper 20 moves to the reverse path 15, the pressing rolls 56 </ b> A and 56 </ b> B receive an external force F from an actuator (not shown) and rotate upward in the drawing as shown in FIG. 5. Then, the arms 23A and 23B are pushed inward by the eccentric cams 51A and 51B in which the followers 53A and 53B are rotated and displaced, so that the interval between the gripping claws 25A and 25B can be narrower than the interval between the rotary shafts 55A and 55B.

  As described above, also in the modified example, the tilt mechanism 50 works and the arms 23A and 23B are inclined inward, so that the modified example also achieves the same effects as those of the first embodiment described above.

  In the first embodiment and the modification, the two tilting mechanisms 30 and 50 have been described. However, the tilting mechanism in the present invention is not limited to this, and an external force is directly or indirectly applied to each of the arms 23A and 23B. Can be applied widely.

[Second Embodiment]
Next, the conveying apparatus 2 concerning 2nd Embodiment by this invention is demonstrated.
In the reversing path 15 and the reversing path 17, the transport device 2 does not tilt the arms 23A and 23B with respect to the movable elements 21A and 21B, but narrows the distance between the movable elements 21A and 21B, that is, the distance between the arms 23A and 23B. Thus, the vehicle can travel from the straight road 11 to the reverse road 15 while holding the container 80 with the gripper 20.
In the transport device 2, a linear motor is configured by the transport path 10 and the gripper 20, and the interval between the arms 23 </ b> A and 23 </ b> B is narrowed using the linear motor. However, in the second embodiment, when the interval between the arms 23A and 23B is reduced, the interval between the gripping claws 25A and 25B that hold the container 80 is maintained from the straight path 11 to the reversing path 15, but the movable elements 21A and 21B This means that the interval, that is, the interval between the arms 23A and 23B on the straight path 11 is reduced.

  Since the transport device 2 can follow the constituent elements of the transport device 1 as they are, the second embodiment will be described below with a focus on the operation of the gripper 20 that is different from the transport device 1. In addition, 2nd Embodiment can also be provided with the tilt mechanism 30 of 1st Embodiment, and can also fix arms 23A and 23B with respect to the needle | mover 21A and 21B, respectively.

  As shown in FIGS. 6 and 7, when the gripper 20 travels on the straight road 11, the arm 23 </ b> A and the arm 23 </ b> B are parallel to each other, and the axes of the arms 23 </ b> A and 23 </ b> B are aligned with the straight road 11. Orthogonal.

Further, when the gripper 20 travels on the straight road 11, the interval between the movable element 21A and the movable element 21B is P1, and the interval between the gripping claws 25A and the gripping claws 25B is Q1. The gripper 20 travels on the straight road 11 in accordance with an instruction from the controller 70 while maintaining the distances P1 and Q1. When the traveling speeds of the movers 21A and 21B, that is, the arms 23A and 23B are V _A1 and V _B1 , the traveling speed V _A1 and the traveling speed V _B1 are equal on the straight road 11. A linear motor including an electromagnetic coil of the conveyance path 10 and a permanent magnet of the gripper 20 and a controller 70 for giving an instruction to the linear motor constitute an adjustment mechanism of the present invention.

Next, as shown in FIGS. 6 and 7, the gripper 20 is inclined in the reversing path 15 by releasing the parallelism of the arm 23 </ b> A and the arm 23 </ b> B. Intervals on the circumference of the movable element 21A and the movable element 21B in the travel line _{L M} of the inverting path 15 and P2, the distance between the gripping claws 25A and the grip claws 25B and Q2. Assuming that the traveling speeds of the movers 21A and 21B are V _A2 and V _B2 , the traveling speed V _A2 and the traveling speed V _B2 are equal even on the reverse road 15.

  The above-described operation control of the gripper 20 on the straight path 11 and the operation control of the gripper 20 on the reversing path 15 are the control α for controlling the traveling speed of the movers 21A and 21B and the control β for controlling the positions of the movers 21A and 21B. There is. Hereinafter, the control α and the control β will be described in this order.

[Control α]
Now, as shown in FIG. 7, the gripper 20 traveling on the straight road 11 moves to the reversing road 15.
On the straight road 11, the gripper 20 has the movable element 21A traveling at V _A1 and the movable element 21B traveling at V _B1 . V _A1 and V _B1 are equal.
When the gripper 20 moves to the reversing path 15, the gap P2 is made narrower than the gap Q2 in order to hold the container 80 by the gripper 20. The gripper 20 is the movable element 21A travels at _{V A2,} movable but mover 21B travels at _{V B2,} the narrower than the interval P1 spacing P2 is running at a straight line path 11 at the same rate The traveling speed of one or both of the child 21A and the mover 21B may be adjusted. Specifically, there are the following options.

[First pattern]: The traveling speed of the mover 21A is decreased.
The distance P2 between the movable element 21A and the movable element 21B is reduced by slowing the traveling speed when the arm 23A moves from the straight path 11 to the reversing path 15 together with the movable element 21A that travels on the transport path 10 in advance. That is, the travel of the movers 21A and 21B is controlled so that the following holds.
Travel speed V _A1 > Travel speed V _A2

As the following mover 21B moves from the straight road 11 to the reversing road 15, the travel speed may be maintained as shown below, or the travel speed may be increased.
Travel speed V _B1 ≦ Travel speed V _B2

[Second pattern]: The moving speed of the mover 21B is increased.
The distance between the movable element 21A and the movable element 21B is reduced by increasing the traveling speed when the movable element 21B traveling on the conveyance path 10 following the movable element 21A moves from the straight path 11 to the reverse path 15. That is, the travel of the movers 21A and 21B is controlled so that the following holds.
Travel speed V _B1 <travel speed V _B2

At this time, when the preceding movable element 21A moves from the straight road 11 to the reversing road 15, the travel speed may be maintained as shown below, or the travel speed may be decreased.
Travel speed V _A1 ≧ Travel speed V _A2

The above-described control of the movers 21A and 21B in the first pattern and the second pattern is based on the premise that the distance between the gripping claws 25A and 25B that grip the container 80 is maintained from the straight path 11 to the reverse path 15. The interval P1 and the interval P2 are controlled so that can be realized. A more specific control procedure is performed after the description of the control β.
Moreover, although this embodiment presupposes that the space | interval Q1 of a pair of holding nail | claw 25A, 25B in the straight path 11 is maintained equally also in the inversion path 15, as long as the container 80 can be hold | gripped, this invention is a space | interval. The interval Q2 may be narrower than Q1.

[Control β]
Next, control β for controlling the positions of the movers 21A and 21B will be described with reference to FIG.
Now, as shown in FIG. 7, the movable element 21A in the straight path 11, the position on the running line _{L M} relative to the origin position O of 21B and _{X A1, X B1.} Further, the movable member 21A after moving to the inversion path 15, the position on the running line _{L M} relative to the origin position O of 21B and _{X A2, X B2.}

Spacing P2 on the circumference of the movable element 21A and the movable element 21B in the travel line _{L M} of the inverting path 15 and distance P1 of the movable element 21A and the movable element 21B in the travel line _{L M} of the straight path 11 is as follows .
Interval P1 = X _A1 −X _B1 P1 = constant Interval P2 = X _A2 −X _B2 P2 = constant

Then, when moving from the straight path 11 to the reversing path 15, the interval P2 is made smaller than the interval P1 in order to reduce the interval between the mover 21A and the mover 21B. That is, the operations of the mover 21A and the mover 21B are controlled so that the following holds.
Interval P1> Interval P2

[Example of interval control of the movers 21A and 21B]
Next, with reference to FIG. 7, a description will be given of how much the distance between the movable elements 21A and 21B is reduced in the control α and the control β.

As shown in FIG. 7, in the transport path 10, the mover 21A, the locus 21B travels to the travel line _{L M,} a locus container 80 to be gripped by the gripper 20 travels a traveling line _{L W.}
In reverse path 15, the distance from the center of curvature to the running line L _M a (radius) and r, the distance from the center of curvature to the running line L _W (the radius) and R.

Mover 21A in the travel line _{L M} of the straight path 11, the distance 21B as interval P1, to the movable element 21A in the travel line _{L M} of the reverse path 15, the spacing on the circumference of 21B with spacing P2.
Gripping claws 25A in the travel line _{L W} of the straight path 11 and the reversing path 15, spacing Q2 on 25B circumference of is equal to the distance Q1, or is maintained smaller than the interval Q1.

Under the above premise, when the gripper 20 moves from the straight path 11 to the reversing path 15, when the preceding movable element 21 </ b> A reaches the reversing path 15, the movable element 21 </ b> A is satisfied so that the following expression (1) is satisfied. And the distance between the movable element 21B is adjusted by either the control α or the control β.
P2 ≦ 2r × sin ⁻¹ (P1 / 2R) (1)

  The gripper 20 continues to travel on the reversing path 15 while controlling the operations of the movable element 21A and the movable element 21B so as to satisfy the above expression (1), but until the succeeding movable element 21B exits the reversing path 15 Continue the control of (1). When both the mover 21A and the mover 21B reach the straight path 13, the distance between the mover 21A and the mover 21B is restored.

[Effects of Second Embodiment]
As described above, the conveying device 2 holds the container 80 even in the reversing path 15 having the arcuate conveying path following the straight path 11 by adjusting the distance between the movable element 21A and the movable element 21B. It is possible to continue the conveyance while keeping it. Therefore, according to the transfer apparatus 2, the processing can be performed on the container 80 in both the processing area A of the straight path 11 and the processing area B of the straight path 13.
Therefore, in the transport apparatus 2 as well, the installation space can be saved and the cost can be reduced as compared with the case where another transport apparatus is provided. In addition, since processing can be continuously performed in the processing area A and the processing area B by one transport apparatus 1, the processing capability is higher than that of providing another transport apparatus that requires a delivery operation.

  In addition, since the conveyance device 2 can continue to hold the container 80 even in the reversing path 15 only by adjusting the distance between the movable element 21A and the movable element 21B constituting the linear motor, it is necessary to provide a mechanical element such as a cam. There is no. Therefore, the transport device 2 has a simple configuration, can reduce the manufacturing cost, and can reduce the maintenance burden.

Although the preferred embodiments of the present invention have been described above, the configurations described in the above embodiments can be selected or changed to other configurations as appropriate without departing from the gist of the present invention.
In the first embodiment, the arm 23A and the arm 23B are tilted inward by mechanical elements, and the operation of the movers 21A and 21B is controlled by a linear motor to adjust the distance between the arm 23A and the arm 23B. Two embodiments can be combined.

1, 2 Conveying device 10 Conveying path 11, 13 Straight path 15, 17 Reverse path 20 Gripper 21A, 21B Movable element 23A, 23B Arm 25A, 25B Grip claw 30, 50 Tilt mechanism 31A, 31B Bracket 32A, 32B Cam support plate 33A, 33B Guide plates 34A, 34B Rotating shafts 35A, 35B Cam followers 37A, 37B Spiral springs 38A, 38B, 39A, 39B Spring support protrusions 41A, 41B Stoppers 45 Cam rails 51A, 51B Eccentric cams 52A, 52B Flat surfaces 53A, 53B Followers 54A , 54B Oscillating arms 55A, 55B Rotating shafts 56A, 56B Press rolls 57A, 57B Tilt shafts 58A, 58B Support ends 59A, 59B Helical springs 61A, 61B Fixed ends 62A, 62B Support block 70 Controller 80 Container F External force

Claims (13)

A conveying path having a pair of linear paths arranged opposite to each other, and a pair of arc-shaped reversing paths connecting each of one end and the other end of the pair of linear paths;
A plurality of grippers having a pair of arms and a pair of gripping claws provided on the respective distal ends of the pair of arms, and traveling along the conveyance path while gripping an article with the pair of gripping claws. When,
An adjustment mechanism that narrows the distance between the pair of arms on the reversing path when the gripper moves from the straight path to the reversing path,
An article conveying apparatus characterized by the above. The adjustment mechanism is
When the gripper moves from the reversing path to the straight path, the distance between the pair of arms on the reversing path is restored.
The article conveying apparatus according to claim 1. The adjustment mechanism is
Maintaining or narrowing the distance between the pair of gripping claws in the straight path in the inversion path;
The article conveyance device according to claim 1 or 2. The pair of arms consists of a leading arm in front of the traveling direction and a trailing arm in the rear of traveling direction,
The adjustment mechanism includes a linear motor that can independently control the traveling speed of the preceding arm and the succeeding arm.
The article conveyance device according to any one of claims 1 to 3. The adjustment mechanism is
By controlling the traveling speed of the preceding arm and the succeeding arm,
When the gripper moves from the straight path to the reversing path, the distance between the pair of arms on the reversing path is narrowed.
The article conveyance device according to claim 4. V _A1 and V _B1 are the traveling speeds of the preceding arm and the succeeding arm on the straight road,
When the traveling speeds of the preceding arm and the succeeding arm on the reversing road are V _A2 and V _B2 ,
The adjustment mechanism is
The traveling speed V _A2 is made slower than the traveling speed V _A1 ,
The article conveying apparatus according to claim 5. The adjustment mechanism is
Set the traveling speed V _B2 to be equal to or higher than the traveling speed V _B1 .
The article conveying apparatus according to claim 6. V _A1 and V _B1 are the traveling speeds of the preceding arm and the succeeding arm on the straight road,
When the traveling speeds of the preceding arm and the succeeding arm on the reversing road are V _A2 and V _B2 ,
The adjustment mechanism is
Making the traveling speed V _B2 faster than the traveling speed V _B1 ,
The article conveying apparatus according to claim 5. The adjustment mechanism is
The traveling speed V _{A2 is set} to be equal to or lower than the traveling speed V _A1 .
The article conveying apparatus according to claim 8. The adjustment mechanism is
By controlling the traveling position of the preceding arm and the succeeding arm,
When the gripper moves from the straight path to the reversing path, the distance between the pair of arms on the reversing path is narrowed.
The article conveyance device according to claim 4. The positions of the preceding arm and the succeeding arm on the travel line on the straight path with reference to a predetermined origin position on the transport path are X _A1 and X _B1, and the position on the travel line on the reverse path is X _A2 and _XB2 ,
Interval P1 = X _A1 −X _B1 P1 = constant Interval P2 = X _A2 −X _B2 P2 = constant
The adjustment mechanism is
The interval P2 is controlled to be smaller than the interval P1,
The article conveying apparatus according to claim 10. When the gripper moves from the straight path to the reverse path, the pair of arms are inclined inwardly facing each other.
The article conveyance device according to any one of claims 1 to 11. A conveying path having a pair of linear paths arranged opposite to each other, and a pair of arc-shaped reversing paths connecting each of one end and the other end of the pair of linear paths;
A pair of arms, and a pair of gripping claws provided on the respective distal ends of the pair of arms,
A plurality of grippers that travel along the transport path while gripping an article with a pair of gripping claws, and an article transport control method in an article transport apparatus,
When the gripper moves from the straight path to the reversing path, the distance between the pair of arms on the reversing path is narrowed.
An article conveyance control method characterized by the above.

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