JP2019038678A - Article conveyance device and control method of article conveyance device - Google Patents

Abstract

To provide an article conveyance device capable of improving productive capacity of a filling line for filling a vessel with product liquid, and further saving a space of the filling line.SOLUTION: An article conveyance device 1 comprises: an upstream side conveyance part (10) having a plurality of upstream side conveyance bodies (20); and a downstream side conveyance part (30) having a plurality of downstream side conveyance bodies (40) which grips an article delivered from the upstream side conveyance part (10) to convey. The upstream side conveyance body (20) comprises upstream side gripping tools (22, 26) for gripping the article at least on one side in a width direction. The downstream side conveyance body (40) comprises downstream side gripping tools (42, 46) for gripping the article at least on one side in the width direction. The downstream side gripping tools (42, 46), when the article is delivered, waits for the article on the upstream side of the conveyance direction of the article than the upstream side gripping tools (22, 26) for gripping the article, or waits on the downstream side of the conveyance direction than the upstream side gripping tools (22, 26) for gripping the article.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an article conveying apparatus that can directly receive a bag-like container held by a gripper called a gripper from an upstream conveying apparatus.

A bag-shaped resin bag having an opening is used as a container for product liquid. This resin bag is formed from a soft resin film.
The production line for filling the product liquid into the resin bag is subjected to a predetermined process while being transported by the transport device on the upstream side, then transferred to the transport device on the downstream side, and transported by the transport device on the downstream side. A predetermined process may be performed.
As a transport device in this production line, there is a device that transports a resin bag while gripping both ends in the width direction with grippers. In the case of a transfer device that grips with a gripper, the gripper that grips the resin bag on the delivery side interferes with the gripper or resin bag on the reception side, and the resin bag cannot be delivered directly from the upstream device to the downstream device. Therefore, conventionally, an apparatus dedicated to the transfer of a resin bag independent of these apparatuses is provided between the upstream apparatus and the downstream apparatus.
Various devices have been devised to improve the production capacity of the filling line. For example, Patent Document 1 proposes an article delivery device that can eliminate the omission when it is delivered to a downstream device even if the omission occurs between containers that are continuously conveyed due to breakage of the vessel in the upstream device.

JP 2014-24665 A

However, when the delivery device is interposed between the upstream device and the downstream device, it is necessary to stop the traveling of the upstream device and the downstream device while the delivery device receives and delivers the resin bag. Continuous operation is not possible. Therefore, the production capacity of the upstream device and the downstream device cannot be exhibited.
In addition, when a delivery device is provided, the cost of the filling line is increased by that amount and installation space is required.

  In view of the above, an object of the present invention is to provide an article conveying apparatus that can improve the production capacity of a filling line for filling a container with a product liquid and can save space in the filling line. .

The article transport apparatus of the present invention includes an upstream transport unit having a plurality of upstream transport bodies that grip and transport an article received from the upstream side, and a plurality of grips and transports an article delivered from the upstream transport unit. A downstream transport unit having a downstream transport body.
The upstream transport body of the upstream transport section includes an upstream gripper that grips an article on at least one side in the width direction, and the downstream transport body of the downstream transport section is an article on at least one side in the width direction. A downstream gripping tool is provided.
The downstream gripping tool waits on the upstream side in the conveyance direction of the article relative to the upstream gripping tool that grips the article when the article is delivered, or downstream in the conveyance direction from the upstream gripping tool that grips the article It is characterized by waiting at.

It is preferable that the downstream conveyance body in the present invention is independently controlled for each moving speed of the articles gripped by the downstream gripping tool.
The upstream transport body and the downstream transport body in the present invention include a first form including a pair of arms and a second form including only one arm.

First, the first form includes a pair of a first arm and a second arm in which the upstream transport body independently repeats moving and stopping, and an upstream gripping tool is provided on each of the first arm and the second arm. An upstream gripping tool of the first arm grips one end side in the width direction of the article, and an upstream gripping tool of the second arm grips the other end side in the width direction of the article.
The downstream transport body includes a pair of a first arm and a second arm that repeat movement and stop independently, and a downstream gripping tool is provided on each of the first arm and the second arm. The downstream gripping tool grips one end side in the width direction of the article, and the downstream gripping tool of the second arm grips the other end side in the width direction of the article.

  In the first embodiment, the downstream gripping tool of the downstream transport body waits on the upstream side in the article transport direction more upstream than the upstream gripping tool gripping the article on the upstream transport body when delivering the article, When the article is delivered, the downstream gripping tool of the side transport body waits on the downstream side in the article transport direction from the upstream gripping tool that grips the article of the upstream transport body.

  In the first mode, the downstream gripping tool waiting on the upstream side in the transport direction is aligned with the upstream gripping tool in the transport direction from the above standby state, and is waiting on the upstream side in the transport direction. After the upstream gripping tool and the downstream gripping tool are aligned in the transport direction, the article is transferred from the upstream transport body to the downstream transport body.

Next, a 2nd form is provided with the upstream arm in which an upstream conveyance body repeats a movement and a stop, and an upstream gripping tool is provided in an upstream arm. The upstream gripping tool of the upstream arm grips one end side or the other end side in the width direction of the article.
The downstream transport body includes a downstream arm that repeats moving and stopping, and a downstream gripping tool is provided on the downstream arm. The downstream gripping tool of the downstream arm grips one end side or the other end side in the width direction of the article.

In the second embodiment, the downstream gripping tool of the downstream transport body is more upstream or downstream in the transport direction of the article than the upstream gripping tool gripping the article of the upstream transport body when delivering the article. I wait.
In the second embodiment, after the standby state, the downstream gripping tool waiting on the upstream side or the downstream side in the transporting direction is aligned with the upstream gripping tool in the transporting direction, and then the downstream side from the upstream transporting body. Deliver goods to the carrier.

  In the article transport apparatus of the present invention, it is preferable that the gripping tool for the upstream transport body and the gripping tool for the downstream transport body are different in the height direction position for gripping the article.

The article conveying device of the present invention can be applied to an upstream conveying section and a downstream conveying section having an elliptical or arcuate article conveying path.
In addition, the present invention provides a method for controlling an article conveying apparatus that is based on the conveying apparatus described above.

  According to the article transporting apparatus of the present invention, when the article is delivered, the downstream gripping tool waits more upstream in the article transport direction than the upstream gripping tool that grips the article. Or it waits in the downstream of a conveyance direction rather than the upstream holding tool which hold | grips articles | goods. Therefore, according to the article transporting apparatus of the present invention, the downstream gripping tool can directly deliver the article from the upstream transporting section to the downstream transporting section without interfering with the upstream gripping tool or the resin bag. Therefore, it is possible to improve the production capacity of the article conveying device as compared with interposing the delivery device. In addition, according to the article conveying apparatus of the present invention, since no delivery device is required, the space for the filling line can be saved.

It is a top view which shows the structure of the whole article delivery apparatus. It is a top view which shows operation | movement of an article delivery apparatus. It is a top view which shows operation | movement of an article delivery apparatus. It is a top view which shows the structure of the whole article delivery apparatus of another form. It is a top view which shows the structure of the whole article delivery apparatus of 2nd Embodiment.

[First Embodiment]
Hereinafter, the article conveyance device 1 of the container 70 according to the first embodiment of the present invention will be described.
As shown in FIG. 1, the article conveying apparatus 1 according to the first embodiment includes an upstream conveying unit 10 that conveys a bag-like container 70 as an article to be conveyed, and a downstream side that receives the container 70 from the upstream conveying unit 10. A transport unit 30. The article transport apparatus 1 includes a control unit 60 that controls the operations of the upstream transport unit 10 and the downstream transport unit 30.

  In the article conveyance device 1, the conveyance path of the upstream conveyance body 20 of the upstream conveyance section 10 that moves counterclockwise and the conveyance path of the downstream conveyance body 40 of the downstream conveyance section 30 that moves clockwise merge. Merge at X. Then, in the delivery region Z on the downstream side β from the junction point X, the container 70 is directly delivered from the upstream side carrier 20 to the downstream side carrier 40.

The article conveyance device 1 moves to the junction point X without the upstream conveyance body 20 and the downstream conveyance body 40 interfering with each other because the positions thereof are shifted. Then, in the synchronization area Y provided on the upstream side α from the delivery area Z, the upstream transport body 20 and the upstream transport body 20 can be received by holding the container 70 transported by the upstream transport body 20 by the downstream transport body 40. The alignment of the downstream transport body 40 is adjusted.
Hereinafter, each element of the article conveying apparatus 1 will be described.
In the present embodiment, the side that delivers the container 70 is the upstream transport unit 10, and the side that receives the container 70 is the downstream transport unit 30. In addition, as shown in FIG. 1, the upstream side α and the downstream side β are defined in each of the upstream side transport unit 10 and the downstream side transport unit 30 with reference to the transport direction in which the container 70 is transported. .
In the present embodiment, as shown in FIG. 1, a direction in which the upstream transport unit 10 and the downstream transport unit 30 extend is a longitudinal direction L, and a direction orthogonal to the longitudinal direction L is a width direction W.

[Upstream transport unit 10]
The upstream transport unit 10 receives a plurality of containers 70 that are continuously transported from the upstream, performs a predetermined process by a processing unit (not shown), and then delivers the containers 70 to the downstream transport unit 30.

  As shown in FIG. 1, the upstream transport unit 10 includes a guide rail 11 that forms an endless transport path, a plurality of upstream transport bodies 20 that transport the gripped container 70 along the guide rail 11, and an upstream side A first cam mechanism for releasing the container 70 from the transport body 20. Although the content of the processing unit not shown is arbitrary, for example, the container 70 can be filled with a product liquid such as food or medicine.

The guide rail 11 has two straight lines and two circular arcs connected to these straight lines, and the interval between the two straight lines is an ellipse having the same diameter as the circular arc. For this reason, the upstream side conveyance part 10 has an elliptical conveyance path | route. Similarly to the upstream side conveyance unit 10, the downstream side conveyance unit 30 also has an elliptical conveyance path.
In addition, although the upstream conveyance body 20 is provided over the perimeter of the guide rail 11, FIG. 1 has shown only the one part upstream conveyance body 20. FIG. The same applies to the downstream side conveyance unit 30 described later.

[Upstream side carrier 20]
The upstream transport body 20 includes a pair of first arms 21 and second arms 25 that each independently travel along the guide rail 11.
The upstream conveyance unit 10 includes a linear motor by providing a permanent magnet 28 on each of the first arm 21 and the second arm 25 and providing an electromagnetic coil 13 along the guide rail 11.
The first arm 21 and the second arm 25 are controlled to move and stop independently according to instructions from the control unit 60. Therefore, the upstream transport unit 10 can arbitrarily change the positions of the first arm 21 and the second arm 25, that is, the positions of the upstream gripping tool 22 and the upstream gripping tool 26.
When the upstream transport body 20 transports the container 70, the distance between the first arm 21 and the second arm 25 is maintained so that the container 70 can be gripped.
On the other hand, when the container 70 is not gripped, the first arm 21 and the second arm 25 can move independently regardless of the interval.

[First arm 21]
The first arm 21 travels while gripping one end side 71 (see FIG. 2A-2) of the side edge of the container 70 with the upstream gripping tool 22 provided at the tip thereof. The one end side 71 faces the downstream side β in FIG.
As shown in FIG. 1, the first arm 21 includes an upstream gripping tool 22 that grips the container 70 and a cam follower 29.

  The upstream gripping tool 22 is provided on the first arm 21 so as to face the upstream gripping tool 26 of the second arm 25 outside the guide rail 11. The upstream gripping tool 22 is opened and closed by a first cam mechanism described later, and grips the container 70 when closed.

The cam follower 29 opens and closes the upstream gripping tool 22 by interacting with the cam 19.
The cam follower 29 is provided on the first arm 21 so as to be able to reciprocate in the axial direction thereof, and the upstream gripping tool 22 opens and closes in conjunction with the movement of the cam follower 29 in the axial direction. The same applies to the upstream gripping tool 26.
As shown in FIG. 1, the cam follower 29 advances and retreats in the width direction W by contacting the cam 19. That is, the cam follower 29 extends downward from the first arm 21 along the height direction H to such an extent that the tip of the cam follower 29 contacts the side surface of the cam 19.
The cam follower 29 is provided with wheels that come into contact with the cam 19.

[Second arm 25]
The second arm 25 grips the other end side 72 (see FIG. 2 (a-2)) facing the one end side 71 of the side edge of the container 70 gripped by the first arm 21. The other end side 72 faces the upstream side α in FIG.
As shown in FIG. 1, the second arm 25 includes an upstream gripping tool 26 that grips the container 70 and a cam follower 29, similar to the first arm 21. The upstream gripping tool 26 is provided on the second arm 25 so as to face the upstream gripping tool 22 of the first arm 21 outside the guide rail 11. Similarly to the upstream side gripping tool 22, the upstream side gripping tool 26 is opened and closed by a first cam mechanism described later, and grips the container 70 when closed.

[First cam mechanism]
The first cam mechanism opens the upstream gripping tool 22 and the upstream gripping tool 26 as the first arm 21 and the second arm 25 move in the delivery area Z, and the upstream transport body 20 opens the container 70. It is for release.
As shown in FIGS. 1 and 3A, the first cam mechanism includes a cam follower 29 of the first arm 21 and the second arm 25 and a cam 19 fixed along the conveyance path of the container 70. The
In addition, although the 2nd arm 25 moves with the 1st arm 21 to the delivery area | region Z, Fig.3 (a) describes the upstream conveyance body 20 and abbreviate | omits description of the downstream conveyance body 40. FIG. On the other hand, FIG. 3B shows the downstream transport body 40 and omits the description of the upstream transport body 20.

As shown in FIG. 3, the cam 19 extends along the longitudinal direction L, and on the surface facing the guide rail 11, the first contact surface 19 </ b> A from the upstream side α and the first contact surface 19 </ b> A. A second contact surface 19 </ b> C close to the guide rail 11 is provided. The first contact surface 19A and the second contact surface 19C are smoothly connected by the inclined surface 19B.
A release position 15 exists at the boundary between the first contact surface 19A and the inclined surface 19B. The release position 15 is a position where the upstream gripping tool 22 or the upstream gripping tool 26 passing through starts to open and the container 70 starts to be released. The release position 15 coincides with the grip position 35 in the longitudinal direction L.

The opening / closing operation of the upstream gripping tool 22 and the upstream gripping tool 26 by the first cam mechanism will be described. The upstream side gripping tool 22 and the upstream side gripping tool 26 differ only in the direction in which they are arranged on the arm, and the opening and closing operations are the same. Therefore, the upstream side gripping tool 22 will be described as an example.
As shown in FIG. 3A <I>, the upstream side gripping tool 22 of the first arm 21 moves while gripping one end side 71 of the container 70 from the upstream side α. This gripping is also maintained when the tip of the cam follower 29 slides along the first contact surface 19A. That is, in the initial state where no load is applied to the cam follower 29, the upstream gripping tool 22 is closed.
However, as shown in FIG. 3A <II>, when the first arm 21 reaches the release position 15 and the cam follower 29 slides along the inclined surface 19B, the upstream gripping tool 22 gradually opens.
Further, as shown in FIG. 3A <III>, when the cam follower 29 slides along the second contact surface 19C, the upstream side gripping tool 22 is opened and the container 70 is released.

[Downstream transport unit 30]
The downstream transport unit 30 receives the container 70 from the upstream transport unit 10, performs a predetermined process on the container 70 by a processing unit (not shown), and delivers the container 70 further downstream.

  As shown in FIG. 1, the downstream transport unit 30 includes a guide rail 31 that forms an endless transport path, a plurality of downstream transport bodies 40 that transport the gripped container 70 along the guide rail 31, and an upstream side. A second cam mechanism for gripping the container 70 received from the carrier 20. The content of the processing unit not shown is arbitrary as in the upstream transport unit 10.

[Downstream transport body 40]
The downstream-side transport body 40 includes a pair of first arms 41 and second arms 45 that travel independently along the guide rails 31.
The downstream conveyance unit 30 includes a linear motor by providing a permanent magnet 48 on each of the first arm 41 and the second arm 45 and providing an electromagnetic coil 33 along the guide rail 31.
The first arm 41 and the second arm 45 are controlled to move and stop independently according to instructions from the control unit 60. Therefore, the downstream transport unit 30 can arbitrarily change the positions of the first arm 41 and the second arm 45, that is, the positions of the downstream gripping tool 42 and the downstream gripping tool 46, respectively.
When the downstream transport body 40 transports the container 70, the distance between the first arm 41 and the second arm 45 is maintained so that the container 70 can be gripped.
On the other hand, when the container 70 is not gripped, the first arm 41 and the second arm 45 can move independently regardless of the interval.

[First arm 41, second arm 45]
The first arm 41 travels while gripping one end side 71 (see FIG. 2 (a-2)) of the side edge of the container 70 with the downstream gripping tool 42 provided at the tip thereof, and the second arm 45 The vehicle travels while gripping the other end 72 of the side edge of the container 70 with the downstream gripping tool 46 provided at the tip.
Further, each of the first arm 41 and the second arm 45 includes a cam follower 49.
The configurations and operations of the downstream gripping tools 42 and 46 and the cam follower 49 are the same as those of the upstream gripping tools 22 and 26 and the cam follower 29 of the upstream transport unit 10, so the following description is omitted.

  The downstream transport unit 30 includes a second cam mechanism for the downstream transport body 40 that has reached the gripping position 35 in the delivery area Z to grip and receive the container 70 that is delivered from the upstream transport unit 10.

[Second cam mechanism]
The second cam mechanism closes the downstream gripping tool 42 and the downstream gripping tool 46 of the second arm 45 as the first arm 41 and the second arm 45 move in the delivery area Z, and the downstream transport body 40 is for gripping the container 70.
As shown in FIGS. 1 and 3B, the second cam mechanism includes a cam follower 49 of the first arm 41 and the second arm 45 and a cam 39 fixed along the conveyance path of the container 70. The

As shown in FIG. 3, the cam 39 extends along the longitudinal direction L, and has a surface facing the guide rail 31 on the upstream side α from the first contact surface 39A and the first contact surface 39A. A second abutting surface 39 </ b> C separated from the guide rail 31 is provided. The first contact surface 39A and the second contact surface 39C are smoothly connected by the inclined surface 39B.
A gripping position 35 exists at the boundary between the inclined surface 19B and the second contact surface 19C. The gripping position 35 is a position where the downstream gripping tool 42 or the downstream gripping tool 46 passing therethrough is closed and gripping of the container 70 is completed.

The opening / closing operation of the downstream gripping tool 42 and the downstream gripping tool 46 by the second cam mechanism will be described. The downstream side gripping tool 42 and the downstream side gripping tool 46 differ only in the direction in which they are arranged on the arm, and the opening and closing operations are the same. Therefore, the downstream side gripping tool 42 will be described as an example.
The downstream gripping tool 42 of the first arm 41 moves from the upstream side α with the downstream gripping tool 42 opened. This state is maintained even when the tip of the cam follower 49 slides along the first contact surface 39A, as shown in FIG.
However, when the cam follower 49 slides along the inclined surface 39B, the downstream gripping tool 42 is gradually closed. Then, as shown in FIG. 3B <II>, when the first arm 41 reaches the gripping position 35 and the cam follower 49 slides on the second contact surface 39C, the downstream gripping tool 42 is closed and the container is closed. Grip 70. As shown in FIG. 3B <III>, even when the downstream transport body 40 further travels downstream β and comes out of the cam 39, the gripping of the container 70 by the downstream gripping tool 42 continues.

As shown in FIG. 1, the downstream side conveyance unit 30 has a gripping position 35 where the first arm 41 and the second arm 45 grip the container 70.
The holding position 35 coincides with the release position 15 where the upstream transport unit 10 releases the container 70 in the longitudinal direction L. Accordingly, the first arm 21 starts releasing the container 70 after the container 70 is gripped by the first arm 41, and the second arm 25 starts releasing the container 70 after the container 70 is gripped by the second arm 45. In this way, the container 70 can be stably delivered from the upstream transport body 20 to the downstream transport body 40.

[Relationship Between Upstream Conveying Unit 10 and Downstream Conveying Unit 30]
As shown in FIG. 1, the article conveyance device 1 includes a junction point X, a synchronization region Y, and a delivery region Z between the upstream conveyance unit 10 and the downstream conveyance unit 30 from the upstream α to the downstream β. Prepare in this order.

The synchronization region Y travels so that the downstream gripping tool 42 is aligned with the upstream gripping tool 22 in the longitudinal direction L, and the downstream gripping tool 46 is aligned with the upstream gripping tool 26 in the longitudinal direction L. It is an area to move.
Specifically, the downstream gripping tool 42 preceding the upstream gripping tool 22 has a slow movement speed in the synchronization region Y, and the upstream gripping tool 22 catches up, so that the upstream gripping tool 22 and the downstream gripping tool 22 are caught. The position 42 coincides in the longitudinal direction L. Since the upstream gripping tool 22 and the downstream gripping tool 42 have different positions in the height direction H (FIG. 2 (a-2)), they do not interfere even if the positions in the longitudinal direction L match. The same applies to the upstream gripping tool 26 and the downstream gripping tool 46.
On the other hand, the downstream gripping tool 46 following the upstream gripping tool 26 has a higher moving speed in the synchronization region Y, and catches up with the upstream gripping tool 26, so that the positions of the upstream gripping tool 26 and the downstream gripping tool 46 are increased. Match in the longitudinal direction L.
In this way, in the synchronization region Y, the positions of the downstream gripping tool 42 and the upstream gripping tool 22 match, and the positions of the downstream gripping tool 46 and the upstream gripping tool 26 match, so that the upstream transport body 20 The container 70 can be delivered from the downstream to the downstream transport body 40.

  After the positions of the downstream gripping tool 42 and the upstream gripping tool 22 and the downstream gripping tool 46 and the upstream gripping tool 26 match in the synchronization region Y, in the delivery region Z, the upstream gripping tool 22 and the upstream gripping tool 26. Is opened, and the downstream gripping tool 42 and the downstream gripping tool 46 are closed, so that the container 70 is transferred from the upstream transport body 20 to the downstream transport body 40.

[Operation of Article Conveying Device 1]
Next, the operation of the article transport apparatus 1 will be described.
This operation includes a merging step in which the transport bodies 20 and 40 of the upstream transport section 10 and the downstream transport section 30 merge from the merging point X toward the transport path on the downstream side β, and the container 70 in the upstream transport body. And a delivery step of delivering from 20 to the downstream transport body 40.
In FIG. 2, the preceding upstream transport body 20 is referred to as an upstream transport body 20A, and the subsequent upstream transport body 20 is referred to as an upstream transport body 20B. Further, the downstream transport body 40 corresponding to the upstream transport body 20A is referred to as a downstream transport body 40A, and the downstream transport body 40 corresponding to the upstream transport body 20B is referred to as a downstream transport body 40B.

[Merging process]
First, the merging process will be described.
The first arm 41A constituting the downstream transport body 40A is waiting on the downstream side β with respect to the first arm 21A of the upstream transport body 20A (FIG. 2 (a-1)). Note that both the downstream transport body 40A and the upstream transport body 20A continue to move at their respective speeds. Further, it may wait while moving or may wait while stopping.
Since the first arm 41A that has reached the synchronization region Y is controlled to move slower than the upstream transport body 20A, the first arm 21A catches up with the first arm 41A. Since the position of the first arm 41A in the height direction H is higher than that of the first arm 21A ((a-2) in FIG. 2), the position of the first arm 41A and the first arm 21A in the longitudinal direction L As a result, the first arm 41A and the first arm 21A are arranged in a position where the container 70 can be gripped without interference.

  On the other hand, the second arm 45A constituting the downstream transport body 40A is waiting at a position where it can reach the junction point X before the first arm 41B and the second arm 45B constituting the downstream transport body 40B. (FIG. 2 (a-1)).

When the second arm 25A of the upstream transport body 20A reaches the junction point X, the second arm 45A and the first arm 41B move toward the synchronization region Y (FIG. 2 (b-1)).
The second arm 45A that has reached the synchronization region Y catches up with the second arm 25A because the moving speed is controlled to be higher than that of the upstream transport body 20A. Since the position of the second arm 45A in the height direction H is also higher than that of the second arm 25A ((b-2) in FIG. 2), the position of the second arm 25A and the second arm 45A in the longitudinal direction L is changed. As a result, the first arm 41A and the first arm 21A can hold the container 70 at the same time.

  The subsequent first arm 41B and second arm 45B operate in the same manner as the preceding first arm 41A and second arm 45A (FIG. 2 (c-1)).

As described above, when the container 70 is delivered, the downstream transport body 40 (A) on the side receiving the container 70 has the first arm 41 (A) and the second arm 45 (A), and the upstream transport body 20. The first arm 21 (A) and the second arm 25 (A) constituting (A) have the following relationship.
The first arm 41 (A) moves ahead of the first arm 21 (A) and waits on the downstream side β, that is, on the upstream side in the transport direction. At this time, the first arm 41 (A) and the first arm 21 (A) are moving along the straight portion of the transport path.
The second arm 45 (A) moves behind the second arm 25 (A) and waits on the upstream side α, that is, on the downstream side in the transport direction. Moreover, the second arm 45 (A) waits where it does not interfere with the movement locus of the second arm 25 (A).

As described above, the first arm 41 (A) waits for the first arm 21 (A) on the downstream side β, and the second arm 45 (A) waits for the second arm 25 (A) on the upstream side α. . Therefore, in the process up to this standby, avoid interference between the first arm 41 (A) and the first arm 21 (A) and interference between the second arm 45 (A) and the second arm 25 (A). it can.
Thereafter, the first arm 41 (A) and the first arm 21 (A) are controlled so that the positions in the longitudinal direction L coincide, and the second arm 45 (A) and the second arm 25 (A) Control is performed so that the positions in the direction L coincide. Even in this process, the interference between the first arm 41 (A) and the first arm 21 (A) and the interference between the second arm 45 (A) and the second arm 25 (A) can be avoided.

[Delivery process]
Next, the delivery process will be described with reference to FIG.
In the synchronization region Y, the first arm 41 of the downstream transport body 40 is gradually closed when the downstream gripping tool 42 that has been opened so far (FIG. 3B <I>). When the first arm 41 reaches the gripping position 35, the downstream gripping tool 42 closes and grips the one end 71 of the container 70 (FIG. 3B <II>).
Thereafter, the first arm 41 moves to the downstream side β while gripping the one end side 71 of the container 70 (FIG. 3B <III>).

On the other hand, the first arm 21 of the upstream transport body 20 holds the one end 71 of the container 70 up to the release position 15 (FIG. 3A <I>). When the first arm 21 reaches the release position 15, the upstream side gripping tool 22 opens and starts releasing the one end side 71 of the container 70 (FIG. 3A <II>). As a result, the one end 71 of the container 70 is transferred from the first arm 21 to the first arm 41.
Thereafter, the first arm 21 moves to the downstream side β in a state where the one end side 71 of the container 70 is released (FIG. 3A <III>).

Then, the second arm 45 of the downstream transport body 40A is also gradually closed in the same manner as the first arm 41 when the opened downstream gripping tool 46 (FIG. 3B <I>). Then, when the second arm 45 reaches the gripping position 35, the downstream gripping tool 46 is closed and grips the other end 72 of the container 70 (FIG. 3 (b) <II>, <III>). Thereby, the other end side 72 of the container 70 is delivered from the first arm 21 to the first arm 41.
Thereafter, the second arm 45 moves to the downstream side β while gripping the other end side 72 of the container 70 (FIG. 3B <III>).

On the other hand, the second arm 25 of the upstream conveyance body 20A also holds the other end side 72 of the container 70 up to a predetermined position, similarly to the first arm 21 (FIG. 3A <I>). When the second arm 25 reaches the release position 15, the upstream side gripping tool 26 is opened to start releasing the other end 72 of the container 70 (FIGS. 3A, <II>, <III>). Thereby, the other end 72 of the container 70 is delivered from the second arm 25 to the second arm 45, and the container 70 is delivered from the upstream transport body 20 to the downstream transport body 40.
Thereafter, the second arm 25 moves to the downstream side β with the other end side 72 of the container 70 released (FIG. 3A <III>).

[Effect of article conveying apparatus 1]
Hereinafter, the effect which the articles | goods conveyance apparatus 1 show | plays is demonstrated.
In the article transport apparatus 1, the first arm 41 (A) waits for the first arm 21 (A) on the upstream side in the transport direction, and the second arm 45 (A) is on the second arm 25 on the downstream side in the transport direction. Wait for (A). Therefore, in the process up to this standby and the process of matching the positions in the longitudinal direction L, the interference between the first arm 41 (A) and the first arm 21 (A), and the second arm 45 (A) and the second arm 25 (A) interference can be avoided.
Thus, since the article conveyance apparatus 1 can deliver the container 70 directly from the upstream conveyance part 10 to the downstream conveyance part 30, compared with the case where the delivery apparatus is interposed, the article conveyance apparatus 1 Production capacity can be improved.

  Moreover, since the container 70 can be directly delivered between the upstream side conveyance part 10 and the downstream side conveyance part 30, compared with providing a delivery apparatus, it can suppress cost and can attain space saving. .

[Modification of First Embodiment]
Next, a modification of the first embodiment will be described with reference to FIG. In FIG. 4, the same components as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted.

  In the present embodiment, as shown in FIG. 4A, the upstream side transport body 20 of the upstream side transport unit 10 is configured by only the first arm 21, and the downstream side transport body 40 of the downstream side transport unit 30 is the first. It consists only of the arm 41. That is, the first arm 21 holds only the one end side 71 of the container 70. Then, the container 70 is delivered by the corresponding first arm 21 and the first arm 41, and the container 70 is gripped only by the one end side 71 by the first arm 41.

  If the rigidity of the container 70 is high, the upstream transport body 20 and the downstream transport body 40 can grip only one side of the container 70 and perform a predetermined process.

Since the first arm 41 is waiting for the first arm 21 on the downstream side β in the article transporting apparatus 1 according to the modification shown in FIG. 4A, the first arm 41 and the first arm are in the process until waiting. 21 interferences can be avoided.
In the subsequent delivery, as in the first embodiment described above, the positions of the first arm 41 and the first arm 21 in the longitudinal direction L are matched, and then the upstream gripping tool 22 to the downstream gripping tool 42. The container 70 is gripped.

  As shown in FIG. 4B, the upstream side transport body 20 of the upstream side transport unit 10 is configured by only the second arm 25, and the downstream side transport body 40 of the downstream side transport unit 30 is only the first arm 41. It may be comprised. In this case, the upstream transport body 20 is gripped only by the other end side 72 of the container 70, and the downstream transport body 40 is gripped only by the one end side 71 of the container 70. In this case, in the article conveying apparatus 1, the first arm 41 is waiting for the second arm 25 on the downstream side β.

[Second Embodiment]
Next, a second embodiment will be described with reference to FIG. In the figure, the same components as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof is omitted.

In the article transport apparatus 2 of the present embodiment, the transport path between the upstream transport unit 80 and the downstream transport unit 90 has an arc shape.
The article transporting apparatus 2 includes a transport path of the upstream transport body 87 of the upstream transport section 80 that moves counterclockwise and a transport path of the downstream transport body 97 of the downstream transport section 90 that moves clockwise. Merge at junction point X.
Unlike the article conveyance apparatus 1, the article conveyance apparatus 2 receives the container 70 from the upstream conveyance body 87 to the downstream conveyance body 97 at the junction point X.

The upstream transport unit 80 has the same configuration as the upstream transport unit 10. That is, as shown in FIG. 5, a guide rail 81 that forms an endless transport path and a plurality of upstream transport bodies 87 that transport the gripped container 70 along the guide rail 81 are provided.
In addition, although the upstream side conveyance body 87 is provided over the perimeter of the guide rail 81, FIG. 5 shows only a part of the upstream side conveyance body 87.

The upstream transport body 87 has a plurality of first arms 87A and second arms 87B (upstream arms) that each travel independently.
The plurality of first arms 87A and second arms 87B each have an upstream gripping tool 88.
The upstream gripping tool 88 of the first arm 87 </ b> A and the upstream gripping tool 88 of the second arm 87 </ b> B are fixed so as to face each other outside the guide rail 81.
Although the opening / closing means of the upstream side gripping tool 88 is arbitrary, it can be opened and closed by a cam mechanism as in the first embodiment. The same applies to the downstream gripping tool 98 described later.

The downstream transport unit 90 has the same configuration as the upstream transport unit 80. That is, as shown in FIG. 5, a guide rail 91 that forms an endless transport path and a plurality of downstream transport bodies 97 that transport the gripped container 70 along the guide rail 91 are provided.
The downstream transport body 97 is displaced in the height direction H higher than the upstream transport body 87.
In addition, although the downstream side conveyance body 97 is also provided over the perimeter of the guide rail 91, FIG.

The downstream transport body 97 includes a plurality of first arms 97A and second arms 97B (downstream arms) that travel independently of each other.
The plurality of first arms 97A and second arms 97B each have a downstream gripping tool 98.
The downstream gripping tool 98 of the first arm 97 </ b> A and the downstream gripping tool 98 of the second arm 97 </ b> B are fixed so as to face each other outside the guide rail 91.

  The upstream transport section 80 and the downstream transport section 90 are close to each other in the transport path, and this close portion becomes the junction point X.

[Operation of Article Conveying Device 2]
Next, the operation of the article transport device 2 will be described.
The first arm 97A arrives at the merge point X before the first arm 87A and waits (FIG. 5A).
Then, the first arm 97A moves toward the junction point X, and arrives at the same position in the circumferential direction as the waiting first arm 87A (FIG. 5B). The first arm 87A and the first arm 97A are displaced in the height direction H. The same applies to the second arm 87B and the second arm 97B.
The downstream gripping tool 98 grips the one end side 71 of the container 70 by closing the downstream gripping tool 98 of the first arm 97A. Accordingly, the upstream gripping tool 88 of the first arm 87 </ b> A releases the one end side 71 of the container 70. Thereby, the gripping of the one end side 71 of the container 70 is performed from the upstream gripping tool 88 of the first arm 87A to the downstream gripping tool 98 of the first arm 97A (FIGS. 5B and 5C).

  The first arm 97A holding the one end side 71 of the container 70 moves from the junction point X as it is (FIG. 5C). Further, the first arm 87A, which has released the one end side 71 of the container 70, also moves from the joining point X as it is (FIG. 5C).

When the first arm 87A moves from the junction point X, the second arm 87B reaches the junction point X (FIG. 5C). When the second arm 87B reaches the junction point X, the second arm 97B also follows the second arm 87B and reaches the junction point X (FIG. 5C).
Then, the downstream gripping tool 98 of the second arm 97 </ b> B is closed, and the downstream gripping tool 98 grips the other end side 72 of the container 70. Accordingly, the upstream gripping tool 88 of the second arm 87 </ b> B releases the other end side 72 of the container 70. Thereby, the gripping of the other end side 72 of the container 70 is performed from the upstream gripping tool 88 of the second arm 87B to the downstream gripping tool 98 of the second arm 97B (FIG. 5D).

As described above, according to the article conveyance device 2, the container 70 can be directly delivered from the upstream conveyance unit 80 to the downstream conveyance unit 90 even in the arcuate conveyance path.
In addition, according to the article transporting device 2, the container 70 can be delivered from the upstream transport unit 80 to the downstream transport unit 90 at the junction point X, so that the synchronization region Y and the delivery region Z are not provided. Space can be further saved.

  The preferred embodiment of the present invention has been described above, but the configuration described in the above embodiment is selected or changed to another configuration as long as it does not depart from the gist of the present invention. be able to.

  For example, in the article transport apparatus 1 according to the first embodiment, the upstream transport body 20 and the downstream transport body 40 grip the one end side 71 and the other end side 72 of the side edge of the container 70, but are not limited thereto. . In the present invention, the upper edge of the container 70 may be gripped by the upstream carrier 20 and the downstream carrier 40.

  Furthermore, the means for opening and closing the upstream gripping tools 22, 26, 88, and 98 is not limited to cams, and the present invention can also be opened and closed by applying a driving force from a driving source.

DESCRIPTION OF SYMBOLS 1, 2 Article conveyance apparatus 10 Upstream conveyance part 11 Guide rail 13 Electromagnetic coil 15 Release position 19 Cam 19A First contact surface 19B Inclined surface 19C Second contact surface 20, 20A, 20B Upstream conveyance body 21, 21A One arm 22 Upstream gripping tool 25, 25A Second arm 26 Upstream gripping tool 28 Permanent magnet 29 Cam follower 30 Downstream transport unit 31 Guide rail 33 Electromagnetic coil 35 Holding position 39 Cam 39A First contact surface 39B Inclined surface 39C First Two abutment surfaces 40, 40A, 40B Downstream transport bodies 41, 41A, 41B First arm 42 Downstream gripper 45, 45A, 45B Two arms 46 Downstream gripper 48 Permanent magnet 49 Cam follower 60 Control unit 70 Container 71 One end 72 Other end 80 Upstream transport section 81 Guide rail 87 Upstream transport body 87A First arm 87B Second arm 8 8 upstream gripping tool 90 downstream transport section 91 guide rail 97 downstream transport body 97A first arm 97B second arm 98 downstream gripping tool H height direction L longitudinal direction W width direction X merge point Y synchronization region Z delivery region α Upstream β Downstream

Claims (11)

An upstream transport section having a plurality of upstream transport bodies for gripping and transporting articles received from the upstream side;
A downstream transport section having a plurality of downstream transport bodies that grip and transport the article delivered from the upstream transport section,
The upstream transport body includes an upstream gripping tool for gripping the article on at least one side in the width direction,
The downstream transport body includes a downstream gripping tool that grips the article on at least one side in the width direction,
The downstream gripping tool waits on the upstream side in the conveyance direction of the article relative to the upstream gripping tool that grips the article when the article is delivered, or the upstream gripping tool that grips the article Than on the downstream side of the transport direction,
An article conveying apparatus characterized by the above. The downstream carrier is
Each moving speed of the article gripped by the downstream gripping tool is independently controlled;
The article conveying apparatus according to claim 1. The upstream carrier is
A pair of first and second arms that repeat independently moving and stopping,
The upstream gripping tool is provided on each of the first arm and the second arm;
The upstream gripping tool of the first arm grips one end side in the width direction of the article,
The upstream gripping tool of the second arm grips the other end side in the width direction of the article;
The downstream carrier is
A pair of first and second arms that repeat independently moving and stopping,
The downstream gripping tool is provided on each of the first arm and the second arm;
The downstream gripping tool of the first arm grips one end of the article in the width direction;
The downstream gripping tool of the second arm grips the other end side in the width direction of the article.
The article conveying apparatus according to claim 2. When the downstream gripping tool of the downstream transport body delivers the article,
Waiting on the upstream side in the transport direction of the article from the upstream gripping tool that grips the article on the upstream transport body,
The downstream gripping tool of the downstream transport body is more downstream in the transport direction of the article than the upstream gripping tool gripping the article of the upstream transport body when delivering the article. Await,
The article conveyance device according to claim 3. Aligning the downstream gripping tool and the upstream gripping tool waiting on the upstream side in the transport direction in the transport direction; and
After aligning the upstream gripping tool and the downstream gripping tool waiting on the upstream side in the transport direction in the transport direction,
Delivering the article from the upstream transport body to the downstream transport body,
The article conveyance device according to claim 4. The upstream carrier is
Equipped with an upstream arm that repeats moving and stopping,
The upstream gripping tool is provided on the upstream arm;
The upstream gripping tool of the upstream arm grips one end side or the other end side in the width direction of the article,
The downstream carrier is
It has a downstream arm that repeats moving and stopping,
The downstream gripping tool is provided on the downstream arm;
The downstream gripping tool on the downstream side grips one end side or the other end side in the width direction of the article.
The article conveying apparatus according to claim 2. When the downstream gripping tool of the downstream transport body delivers the article,
Waiting upstream or downstream in the transport direction of the article from the upstream gripping tool that grips the article of the upstream transport body,
The article conveying apparatus according to claim 6. After aligning the downstream gripping tool and the upstream gripping tool waiting in the upstream or downstream side of the transport direction in the transport direction,
Delivering the article from the upstream transport body to the downstream transport body,
The article conveyance device according to claim 7. The gripping tool of the upstream transport body and the gripping tool of the downstream transport body are:
The height position for gripping the article is different,
The article conveyance device according to any one of claims 1 to 8. The upstream transport section and the downstream transport section are
Having an elliptical or arcuate conveying path for the article,
The article conveyance device according to any one of claims 1 to 9. An upstream transport section having a plurality of upstream transport bodies for gripping and transporting articles received from the upstream side;
A downstream transport section having a plurality of downstream transport bodies that grip and transport the article delivered from the upstream transport section,
The upstream transport body includes an upstream gripping tool for gripping the article on at least one side in the width direction,
The downstream transport body includes a downstream gripping tool that grips the article on at least one side in the width direction,
The downstream gripping tool waits on the upstream side in the conveyance direction of the article relative to the upstream gripping tool that grips the article when the article is delivered, or the upstream gripping tool that grips the article The operation is controlled so as to wait on the downstream side in the transport direction than
A control method for an article conveying apparatus.

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