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JP7398755B1 - Goods conveyance device - Google Patents

Goods conveyance device Download PDF

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Publication number
JP7398755B1
JP7398755B1 JP2022089665A JP2022089665A JP7398755B1 JP 7398755 B1 JP7398755 B1 JP 7398755B1 JP 2022089665 A JP2022089665 A JP 2022089665A JP 2022089665 A JP2022089665 A JP 2022089665A JP 7398755 B1 JP7398755 B1 JP 7398755B1
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article
pair
conveyor
sliders
conveyance
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JP2023181570A (en
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広衛 川島
浩光 恩田
隆秋 本庄
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Orion Machinery Co Ltd
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Orion Machinery Co Ltd
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Priority to JP2022089665A priority Critical patent/JP7398755B1/en
Priority to CN202380014895.1A priority patent/CN118339096B/en
Priority to PCT/JP2023/018320 priority patent/WO2023234010A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Non-Mechanical Conveyors (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

【課題】高速運転であっても、物品が安定して搬送され、生産性を向上させる物品搬送装置を提供する。【解決手段】物品搬送装置１は、互いに独立して位置制御可能な多数のスライダ１１が基台１０に沿って移動自在に構成されるリニアコンベア４と、進行方向に沿って間隔を置いて配置される前後一対のスライダ１１、１１のうち前側のスライダ１１に回動自在に支持され、物品Ｗを受け入れる搬送体５と、該搬送体５と後側のスライダ１１とを連結するリンク機構（連結機構）と、前後一対のスライダ１１、１１間の距離を制御することで、リンク機構を介して、搬送体５の回動角度を制御する制御ロジックを含む制御装置７と、を備えている。これにより、高速運転であっても、物品が安定して搬送され、生産性を向上させることができる。【選択図】図１An object of the present invention is to provide an article conveying device that stably conveys articles even in high-speed operation and improves productivity. An article conveying device 1 includes a linear conveyor 4 configured with a plurality of sliders 11 whose positions can be controlled independently of each other and which are movable along a base 10, and which are arranged at intervals along a traveling direction. A transport body 5 rotatably supported by the front slider 11 of the pair of front and rear sliders 11, 11 that receives the article W, and a link mechanism (connection mechanism) connecting the transport body 5 and the rear slider 11. mechanism), and a control device 7 including a control logic that controls the rotation angle of the carrier 5 via a link mechanism by controlling the distance between the pair of front and rear sliders 11, 11. Thereby, even in high-speed operation, articles can be stably conveyed and productivity can be improved. [Selection diagram] Figure 1

Description

本発明は、物品、例えば、複数枚集積されたマスク・カード等の集積体である物品を搬送する物品搬送装置に関するものである。 The present invention relates to an article conveying device that conveys an article, for example, an article that is a stack of masks, cards, and the like.

上述した物品搬送装置における従来技術として、特許文献１には、供給される集積体を物品搬送経路上の供給位置に所定のタイミングで順次供給する物品供給手段と、この物品供給手段によって供給された集積体を物品搬送経路に沿って搬送する物品搬送手段と、胴部を筒状に開口した状態のカートンを挿入領域（挿入位置）に順次搬送するカートン搬送手段と、物品搬送手段によって集積体を搬送しながら、物品搬送経路上の挿入領域においてカートンの胴部に挿入する物品挿入手段と、を備えているカートナが開示されている。この特許文献１に記載のカートナでは、物品供給手段による集積体の物品搬送経路上の供給位置への供給方向と、物品挿入手段による集積体の物品搬送経路上の挿入領域からカートンの胴部内への挿入方向とが平行に構成される。 As a conventional technology for the above-mentioned article conveyance device, Patent Document 1 discloses an article supply means for sequentially supplying the supplied aggregates to a supply position on an article conveyance route at a predetermined timing, and An article conveying means that conveys the stack along an article conveying path, a carton conveying means that sequentially conveys a carton with a cylindrical open body to an insertion area (insertion position), and an article conveying means that transports the accumulated body. A cartoner is disclosed that includes an article insertion means for inserting an article into the body of the carton in an insertion area on an article conveyance path while conveying the article. In the cartoner described in Patent Document 1, the article supply means supplies the stack to a supply position on the article conveyance path, and the article insertion means supplies the stack from the insertion area on the article conveyance path into the body of the carton. The direction of insertion is parallel to the direction of insertion.

特開２０１２－２０１４０９号公報Japanese Patent Application Publication No. 2012-201409

上述したように、特許文献１に記載のカートナでは、物品供給手段による集積体の供給方向は、物品搬送手段による集積体の物品搬送経路に沿う搬送方向に対して直交しており、すなわち、供給位置において、集積体の進行方向（物品搬送経路に沿う搬送方向）が直角に向きを変えている。これにより、集積体の供給位置において、それまでの前進速度が一瞬でゼロになり、物品搬送経路に到達して搬送方向に向かう際に一瞬で加速しなければならず、高速運転する際に、集積体の重なりが乱れがちとなる。 As described above, in the cartoner described in Patent Document 1, the direction in which the stack is supplied by the article supply means is perpendicular to the direction in which the stack is conveyed along the article conveyance path by the article conveyance means. At this position, the traveling direction of the stack (the conveyance direction along the article conveyance path) changes direction at right angles. As a result, at the supply position of the stack, the previous forward speed instantaneously becomes zero, and when it reaches the article conveyance path and heads in the conveyance direction, it must be accelerated instantaneously, and when operating at high speed, The overlapping of the aggregates tends to be disordered.

また、特許文献１に記載のカートナでは、物品供給手段による集積体の物品搬送経路上の供給位置への供給方向と、物品挿入手段による集積体の物品搬送経路上の挿入領域からカートンの胴部内への挿入方向とが平面視にて平行になるように構成されているので、物品搬送経路の周辺スペースを有効に活用することができず、スペース効率が悪く、改善する余地がある。しかも、特許文献１に記載のカートナでは、物品搬送経路に対する、物品供給手段及び物品搬出手段の相対位置が限定されてしまい、設置場所に対する汎用性が乏しくなる。また、物品搬送装置においては、従来から物品の搬送に係る時間を短縮して、生産性を向上させることが大きな課題になっている。 In addition, in the cartoner described in Patent Document 1, the supply direction of the stack by the article supplying means to the supply position on the article conveyance path, and the direction from the insertion area of the stack on the article conveyance path to the inside of the body of the carton by the article insertion means. Since the article is configured to be parallel to the insertion direction in plan view, the space around the article conveyance path cannot be effectively utilized, resulting in poor space efficiency, and there is room for improvement. Moreover, in the cartoner described in Patent Document 1, the relative positions of the article supplying means and the article transporting means with respect to the article conveyance path are limited, resulting in poor versatility regarding installation locations. Furthermore, in article conveyance devices, it has traditionally been a major challenge to shorten the time involved in conveying articles and improve productivity.

そして、本発明は、かかる点に鑑みてなされたものであり、高速運転であっても、物品が安定して搬送され、生産性を向上させる物品搬送装置を提供することを目的とする。 The present invention has been made in view of this point, and an object of the present invention is to provide an article conveying device that stably conveys articles even in high-speed operation and improves productivity.

上記課題を解決するための手段として、請求項１に記載した発明は、物品を搬送する物品搬送装置であって、互いに独立して位置制御可能な多数のスライダが基台に沿って移動自在に構成されるリニアコンベアと、前記多数のスライダのうち進行方向に沿って間隔を置いて配置される前後一対のスライダにおいて、一方のスライダに回動自在に支持され、前記物品を受け入れる搬送体と、該搬送体と他方のスライダとを連結する連結機構と、前記前後一対のスライダ間の距離を制御することで、前記連結機構を介して、前記搬送体の回動角度を制御する制御ロジックを含む制御装置と、を備えることを特徴とするものである。
請求項１の発明では、制御装置において、一対のスライダ間の距離を制御することで、連結機構を介して、搬送体の回動角度を制御することができるので、物品の搬送体への供給方向と、物品の搬送体からの搬出方向とを自在に制御することができる。その結果、物品の向きを、時間を掛けて変更できるので、物品が、例えば集積体の場合、その重なりが乱れることがなく、高速運転することが可能になる。しかも、物品の搬送体への供給方向と、物品の搬送体からの搬出方向とを自在に制御することができるので、物品供給手段及び物品搬出手段等の設置スペースを有効に活用することができる。また、物品搬送経路（リニアコンベア）に対する、物品供給手段及び物品搬出手段等の相対位置が限定されることがないので、設置場所に対する汎用性が優れたものになる。 As a means for solving the above problem, the invention described in claim 1 is an article conveying device for conveying articles, in which a number of sliders whose positions can be controlled independently of each other are movable along a base. a linear conveyor constructed of a linear conveyor, and a transport body rotatably supported by one slider of a pair of front and rear sliders arranged at intervals along the traveling direction among the plurality of sliders and receiving the article; A connecting mechanism that connects the conveying body and the other slider, and a control logic that controls the rotation angle of the conveying body via the connecting mechanism by controlling the distance between the pair of front and rear sliders. The present invention is characterized by comprising a control device.
In the invention of claim 1, in the control device, by controlling the distance between the pair of sliders, the rotation angle of the conveying body can be controlled via the coupling mechanism, so that the supply of articles to the conveying body can be controlled. The direction and the direction in which the article is carried out from the carrier can be freely controlled. As a result, the orientation of the articles can be changed over time, so if the articles are stacked, for example, the overlapping of the articles will not be disturbed and high-speed operation will be possible. Moreover, since the direction in which the article is supplied to the conveyor and the direction in which the article is taken out from the conveyor can be freely controlled, the installation space for the article supply means, the article carry-out means, etc. can be effectively utilized. . In addition, since the relative positions of the article supply means, article discharge means, etc. with respect to the article conveyance path (linear conveyor) are not limited, versatility regarding the installation location is excellent.

請求項２に記載した発明は、請求項１に記載した発明において、前記制御装置は、前記前後一対のスライダが前記基台に沿って移動しながら、該前後一対のスライダ間の距離を次第に変化させて、前記搬送体を回動させる制御ロジックを含むことを特徴とするものである。
請求項２の発明では、搬送体が、一対のスライダの移動に伴って回動しながら移動することで、物品の搬送に対して、時間を掛けて、物品の向きを変更するので、時間的なロスが無く、安定して物品を搬送することができる。 In the invention set forth in claim 2, in the invention set forth in claim 1, the control device gradually changes the distance between the pair of front and rear sliders while the pair of front and rear sliders moves along the base. The present invention is characterized in that it includes control logic for rotating the carrier.
In the invention of claim 2, the conveyance body moves while rotating in accordance with the movement of the pair of sliders, so that the direction of the article is changed over time with respect to conveyance of the article. Goods can be transported stably without any significant loss.

請求項３に記載した発明は、請求項１に記載した発明において、前記基台は、無端状に構成されることを特徴とするものである。
請求項３の発明では、一対のスライダに連結された搬送体を、例えば、物品搬送経路の物品搬入位置と物品搬出範囲との間を往復運動させるのではなく、多数の搬送体を基台に沿って一方向に移動させて循環させることで、物品搬入位置及び物品搬出範囲に移動させることができる。その結果、時間的ロスがなく、また構造的に複雑にすることもなく、物品搬入位置では搬送体に物品を収容して、且つ搬送体を所定の回動角度に回動させながら物品搬出範囲まで移動させ、当該物品搬出範囲にて、搬送体から物品を搬出する一連の作用をスムーズに時間的ロス無く繰り返すことができる。 The invention described in claim 3 is characterized in that, in the invention described in claim 1, the base is configured in an endless shape.
In the invention of claim 3, instead of reciprocating the conveyor connected to the pair of sliders between the article carry-in position and the article carry-out range on the article conveyance route, a large number of conveyors are moved on a base. By moving it in one direction along the line and circulating it, it can be moved to the article carry-in position and the article carry-out range. As a result, there is no time loss or structural complexity, and the article can be stored in the conveyor at the article carry-in position, and the article can be carried out within the article carry-out range by rotating the conveyor at a predetermined rotation angle. The series of operations for carrying out the article from the conveyor can be repeated smoothly and without any time loss in the article carrying range.

請求項４に記載した発明は、請求項１に記載した発明において、前記物品の前記搬送体への供給方向と、物品の搬送体からの搬出方向とが平面視にて直交することを特徴とするものである。
請求項４の発明では、従来（特許文献１に記載のカートナ）よりも、物品供給手段及び物品搬出手段を含む物品搬送装置全体を平面視で非常にコンパクトにすることができ、ひいては、占有スペースを縮小でき、スペース効率を非常に良好にすることができる。 The invention described in claim 4 is characterized in that, in the invention described in claim 1, the direction in which the article is supplied to the carrier and the direction in which the article is carried out from the carrier are orthogonal in plan view. It is something to do.
According to the invention of claim 4, the entire article conveying device including the article supply means and the article carrying means can be made much more compact in plan view than the conventional cartoner (cartoner described in Patent Document 1), and the occupied space is further reduced. can be reduced, making space efficiency very good.

請求項５に記載した発明は、請求項１に記載した発明において、前記制御装置は、連続して供給される多数の前記物品が、前記リニアコンベアを連続して移動する多数の前記搬送体に連続して搬入される一方、前記複数の搬送体が停止した状態で、各搬送体から同時に各物品が搬出される制御ロジックを含むことを特徴とするものである。
請求項５の発明では、特に、複数の搬送体が停止した状態で、各搬送体から同時に各物品が搬出されるので、生産速度を上げることができ、ひいては生産性を向上させることができる。 In the invention set forth in claim 5, in the invention set forth in claim 1, the control device controls a plurality of the articles to be continuously supplied to the plurality of conveyance bodies that continuously move on the linear conveyor. The present invention is characterized in that it includes control logic for simultaneously carrying out articles from each conveyance body while being carried in continuously, while the plurality of conveyance bodies are stopped.
In the invention of claim 5, in particular, since each article is simultaneously carried out from each conveyor while the plurality of conveyors are stopped, the production speed can be increased, and productivity can be improved.

本発明に係る物品搬送装置では、高速運転であっても、物品が安定して搬送され、また、生産性も向上され、しかも、スペースを有効に活用することができる。 In the article conveyance device according to the present invention, articles can be stably conveyed even in high-speed operation, productivity can be improved, and space can be used effectively.

図１は、本発明の実施形態に係る物品搬送装置の全体像を示す斜視図である。FIG. 1 is a perspective view showing an overall image of an article conveying device according to an embodiment of the present invention. 図２は、本発明の実施形態に係る物品搬送装置の物品供給手段から搬送体に物品が搬入される様子を示す斜視図である。FIG. 2 is a perspective view showing how an article is carried into a conveyor from an article supply means of an article conveying apparatus according to an embodiment of the present invention. 図３は、本発明の実施形態に係る物品搬送装置の搬送体を含む周辺構造を示す斜視図である。FIG. 3 is a perspective view showing the peripheral structure including the transport body of the article transport device according to the embodiment of the present invention. 図４は、本発明の実施形態に係る物品搬送装置の搬送体を含む周辺構造を示す断面図である。FIG. 4 is a sectional view showing a peripheral structure including a transport body of an article transport device according to an embodiment of the present invention. 図５は、本発明の実施形態に係る物品搬送装置の搬送体が回動する様子を示す斜視図である。FIG. 5 is a perspective view showing how the transport body of the article transport device according to the embodiment of the present invention rotates. 図６は、本発明の実施形態に係る物品搬送装置の搬送体が回動する様子を示す斜視図である。FIG. 6 is a perspective view showing how the transport body of the article transport device according to the embodiment of the present invention rotates.

以下、本発明の実施形態に係る物品搬送装置１を図１～図６に基づいて詳細に説明する。
本発明の実施形態に係る物品搬送装置１は、集積体である物品Ｗ、例えば、マスク・カード等を複数枚集積した集積体の物品Ｗを所定距離搬送するものである。図１を参照して、本実施形態に係る物品搬送装置１は、物品供給手段１８と、物品搬出手段（図示略）とを含み、物品搬入位置にて物品供給手段１８により搬入された物品Ｗを物品搬出範囲まで搬送して、当該物品搬出範囲にて物品Ｗを物品搬出手段により次工程へ搬出させるものである。 Hereinafter, an article conveying device 1 according to an embodiment of the present invention will be described in detail based on FIGS. 1 to 6.
The article conveyance device 1 according to the embodiment of the present invention is for conveying an article W which is an accumulation, for example, an article W which is an accumulation of a plurality of masks, cards, etc., over a predetermined distance. Referring to FIG. 1, an article conveyance device 1 according to the present embodiment includes an article supply means 18 and an article carry-out means (not shown), and includes an article W carried in by the article supply means 18 at an article carry-in position. The article W is conveyed to an article carry-out range, and the article W is carried out to the next process by an article carry-out means in the article carry-out range.

図１及び図２を参照して、本実施形態に係る物品搬送装置１は、特に、互いに独立して位置制御可能な多数のスライダ１１が基台１０に沿って移動自在に構成されるリニアコンベア４と、進行方向に沿って間隔を置いて配置される前後一対のスライダ１１、１１のうち前側のスライダ１１に回動自在に支持され、物品Ｗを受け入れる搬送体５と、該搬送体５と後側のスライダ１１とを連結するリンク機構６と、前後一対のスライダ１１、１１間の距離を制御することで、リンク機構６を介して、搬送体５の回動角度を制御する制御ロジックを含む制御装置７と、備えている。後で詳述するが、制御装置７は、特に、リニアコンベア４の各スライダ１１、１１の位置を、後述するリニアスケールを含む各種検出センサ（図示略）からの検出信号に基づき制御するものである。リンク機構６が連結機構に相当する。 Referring to FIGS. 1 and 2, the article conveyance device 1 according to the present embodiment is particularly constructed of a linear conveyor in which a large number of sliders 11 whose positions can be controlled independently of each other are movable along a base 10. 4, a transport body 5 which is rotatably supported by the front slider 11 of a pair of front and rear sliders 11, 11 arranged at intervals along the traveling direction and receives the article W; By controlling the distance between the link mechanism 6 that connects the slider 11 on the rear side and the pair of front and rear sliders 11, 11, a control logic that controls the rotation angle of the carrier 5 via the link mechanism 6 is implemented. A control device 7 including the control device 7 is provided. As will be described in detail later, the control device 7 particularly controls the position of each slider 11, 11 of the linear conveyor 4 based on detection signals from various detection sensors (not shown) including a linear scale described later. be. The link mechanism 6 corresponds to a coupling mechanism.

図１を参照して、リニアコンベア４は、リニアモータを駆動源として、基台１０上に敷設されたレールに沿って多数のスライダ１１、１１をそれぞれ移動させるものである。なお、リニアモータとしては、いわゆる可動磁石型リニアモータが適用される。この可動磁石型リニアモータは、具体的には、電磁石（電機子）がリニアモータ固定子として基台１０上に固定される一方、永久磁石がリニアモータ可動子として各スライダ１１に固定され、電磁石を構成するコイルへの電流供給が制御されることで各スライダ１１に推進力が与えられる。そして、各スライダ１１に固定されるスケールと、基台１０側に配置される複数のセンサと、を備えるリニアスケールが組み込まれる。このリニアスケールによる位置検出に基いて、前記コイルへの電流供給が制御されることで、特定位置への各スライダ１１の移動が可能となっている。要するに、リニアコンベア４では、制御装置７により、多数のスライダ１１、１１を独立して、それらの位置及び速度等を制御することができる。 Referring to FIG. 1, the linear conveyor 4 uses a linear motor as a drive source to move a large number of sliders 11, 11 along rails laid on a base 10, respectively. Note that a so-called moving magnet type linear motor is applied as the linear motor. Specifically, in this movable magnet type linear motor, an electromagnet (armature) is fixed on a base 10 as a linear motor stator, a permanent magnet is fixed on each slider 11 as a linear motor mover, and the electromagnet Propulsive force is given to each slider 11 by controlling the current supply to the coils that constitute the slider. Then, a linear scale including a scale fixed to each slider 11 and a plurality of sensors arranged on the base 10 side is incorporated. Based on the position detection by this linear scale, the current supply to the coils is controlled, thereby making it possible to move each slider 11 to a specific position. In short, in the linear conveyor 4, the control device 7 can independently control the positions, speeds, etc. of the many sliders 11, 11.

図１を参照して、リニアコンベア４の基台１０は、側面視において、その外形が対向する一対の半円弧状部１４、１４と、一対の半円弧状部１４、１４に接続され、対向する一対の直線状部１５、１５とからなる長円形状を呈する無端状に構成される。なお、本実施形態では、基台１０は、側面視において、その外形が長円形状を呈する無端状に構成されているが、基台１０を、平面視において、その外形が長円形状を呈する無端状に構成しても良い。リニアコンベア４の上側の直線状部１５であって、その搬送方向上流側（図１の左側）の直上に、物品供給手段１８の搬出側の先端部が配置される。物品供給手段１８による物品Ｗの供給方向は、リニアコンベア４の直線状部１５の長手方向と一致する。 Referring to FIG. 1, the base 10 of the linear conveyor 4 is connected to a pair of semicircular arcuate parts 14, 14 whose external shapes are opposite in side view, and a pair of semicircular arcuate parts 14, 14, which are opposite to each other. It is configured in an endless shape having an oval shape and consisting of a pair of linear portions 15, 15. In this embodiment, the base 10 has an endless shape with an oval outer shape when viewed from the side; however, the base 10 has an oval outer shape when viewed from above. It may be configured to be endless. The distal end of the article supply means 18 on the discharge side is disposed directly above the upper straight portion 15 of the linear conveyor 4 on the upstream side in the conveyance direction (left side in FIG. 1). The direction in which the article W is supplied by the article supply means 18 coincides with the longitudinal direction of the linear portion 15 of the linear conveyor 4 .

この物品供給手段１８（上下一対のベルトユニット２０、２０）の搬出側先端部が配置されるリニアコンベア４の位置が、物品供給手段１８により物品Ｗが搬送体５に搬入される物品搬入位置となる。図１及び図２を参照して、物品供給手段１８は、概略、上下一対のベルトユニット２０、２０を備えて構成される。上下一対のベルトユニット２０、２０は、上下一対の無端状ベルトが所定範囲にて互いに対向するように構成される。上下一対のベルトユニット２０、２０は、各駆動ローラ（図示略）の回転により、上下一対の無端状ベルトが一方向に循環するように移動するように構成される。上下一対のベルトユニット２０、２０は、リニアコンベア４の物品搬入位置に向かって下方傾斜して配置される。 The position of the linear conveyor 4 where the discharging end of the article supply means 18 (a pair of upper and lower belt units 20, 20) is arranged is the article carry-in position where the article W is carried into the conveyor 5 by the article supply means 18. Become. Referring to FIGS. 1 and 2, the article supply means 18 generally includes a pair of upper and lower belt units 20, 20. The pair of upper and lower belt units 20, 20 are configured such that the pair of upper and lower endless belts face each other within a predetermined range. The pair of upper and lower belt units 20, 20 are configured to move so that the pair of upper and lower endless belts circulates in one direction by the rotation of each drive roller (not shown). The pair of upper and lower belt units 20, 20 are arranged to be inclined downward toward the article loading position of the linear conveyor 4.

上下一対のベルトユニット２０、２０のうち下側のベルトユニット２０の搬出側先端部は、リニアコンベア４の物品搬入位置に到達したスライダ１１、１１上の搬送体５を構成する、後述する一対の姿勢保持部材２４、２４間で、一対のストッパ部材２５、２５間に位置するように配置される。そして、一対のベルトユニット２０、２０が駆動ローラの駆動により作動されることで、多数の物品Ｗが互いに間隔をあけて上下一対のベルトユニット２０、２０間をそれぞれ移動して、その搬出側の先端部から順次、リニアコンベア４の物品搬入位置に順次到達したスライダ１１、１１の、後述する搬送体５の一対の姿勢保持部材２４、２４間で、一対の支持部材２６、２６上に搬入される。 Out of the pair of upper and lower belt units 20, 20, the distal end of the lower belt unit 20 on the discharge side is connected to a pair of conveyors 5, which will be described later, on the sliders 11, 11 that have reached the article loading position of the linear conveyor 4. It is arranged between the posture holding members 24, 24 and between the pair of stopper members 25, 25. Then, the pair of belt units 20, 20 are operated by the driving rollers, so that a large number of articles W are moved between the pair of upper and lower belt units 20, 20 at a distance from each other, and the output side thereof is moved. The sliders 11, 11, which have reached the article carrying position of the linear conveyor 4 one after another from the tip end, are carried onto a pair of support members 26, 26 between a pair of posture holding members 24, 24 of the conveyor 5, which will be described later. Ru.

図２～図４を参照して、搬送体５は、進行方向に沿って間隔を置いて隣接して配置される前後一対のスライダ１１、１１のうち前側のスライダ１１に回動自在に支持される。搬送体５は、リンク機構６を介して、前後一対のスライダ１１、１１のうち後側のスライダ１１に連結される。搬送体５は、基台１０に沿って配置される、進行方向に沿って隣接する前後一対のスライダ１１、１１に対して１つずつ設けられる。搬送体５は、互いに間隔を開けて配置される断面Ｌ字状の一対の姿勢保持部材２４、２４と、一対の姿勢保持部材２４、２４の進行方向前端をそれぞれ塞ぐストッパ部材２５、２５と、一対の姿勢保持部材２４、２４の底部の端部からそれぞれ立設され、物品Ｗを下方から支持する支持部材２６、２６と、を備えている。 Referring to FIGS. 2 to 4, the carrier 5 is rotatably supported by the front slider 11 of a pair of front and rear sliders 11, 11 arranged adjacently at intervals along the traveling direction. Ru. The carrier 5 is connected to the rear slider 11 of the pair of front and rear sliders 11, 11 via the link mechanism 6. One conveyor 5 is provided for each pair of front and rear sliders 11, 11 arranged along the base 10 and adjacent to each other along the traveling direction. The transport body 5 includes a pair of attitude holding members 24, 24 having an L-shaped cross section and arranged at a distance from each other, and stopper members 25, 25 that respectively close the forward ends of the pair of attitude holding members 24, 24 in the advancing direction. Support members 26, 26 are provided that stand up from the bottom ends of the pair of posture holding members 24, 24, respectively, and support the article W from below.

一対の姿勢保持部材２４、２４は、物品Ｗの幅方向に沿って間隔を開けて配置される。一対の姿勢保持部材２４、２４は、その底部が互いに近接して対向するように配置される。一対の姿勢保持部材２４、２４間の距離は、物品Ｗの幅長に対応して適宜設定される。姿勢保持部材２４の高さも物品Ｗの高さに対応して適宜設定される。一対の姿勢保持部材２４、２４の底部における進行方向後端には、一対の姿勢保持部材２４、２４間を跨ぐ切欠き凹部２８（図５及び図６参照）が形成される。ストッパ部材２５は、姿勢保持部材２４の進行方向前端を塞ぐものである。 The pair of posture holding members 24, 24 are arranged at intervals along the width direction of the article W. The pair of posture holding members 24, 24 are arranged so that their bottoms are close to each other and face each other. The distance between the pair of posture holding members 24, 24 is appropriately set according to the width of the article W. The height of the posture holding member 24 is also appropriately set corresponding to the height of the article W. A notch recess 28 (see FIGS. 5 and 6) that spans between the pair of attitude holding members 24, 24 is formed at the rear end in the traveling direction of the bottom of the pair of attitude holding members 24, 24. The stopper member 25 closes the front end of the posture holding member 24 in the advancing direction.

支持部材２６は、一対の姿勢保持部材２４、２４の底部で、互い対向する端部からそれぞれ立設される。図４から解るように、各支持部材２６、２６の上端は、姿勢保持部材２４、２４の側部に向かってそれぞれ屈曲している。そして、図３を参照して、搬送体５の一対の姿勢保持部材２４、２４間で、且つ一対の支持部材２６、２６上に物品Ｗが収容される収容空間４７が形成される。一対の姿勢保持部材２４、２４により、集積体である物品Ｗの重なりが幅方向に乱れることなく保持される。なお、上述しているように、搬送体５の一対の姿勢保持部材２４、２４間であって、一対のストッパ部材２５、２５間に、物品供給手段１８を構成する下側のベルトユニット２０の搬出側先端部が挿入される。 The support members 26 are respectively erected from mutually opposing ends at the bottoms of the pair of posture holding members 24, 24. As can be seen from FIG. 4, the upper end of each support member 26, 26 is bent toward the side of the posture holding member 24, 24, respectively. Referring to FIG. 3, an accommodation space 47 in which the article W is accommodated is formed between the pair of posture holding members 24, 24 of the transport body 5 and on the pair of support members 26, 26. The pair of posture holding members 24, 24 hold the stack of articles W without disturbing them in the width direction. As described above, the lower belt unit 20 constituting the article supply means 18 is placed between the pair of posture holding members 24, 24 of the conveyor 5 and between the pair of stopper members 25, 25. The unloading side tip is inserted.

図２～図４を参照して、前後一対のスライダ１１、１１のうち前側のスライダ１１の上面に設けた、後述する回動筒部材３９と、前後一対のスライダ１１、１１のうち後側のスライダ１１とはリンク機構６により連結される。リンク機構６は、第１リンク３１と、第１リンク３１のリンク部３６の先端と互いに回動自在に連結される第２リンク３２と、を備えている。第１リンク３１は、円環状部３５（図６も参照）と、円環状部３５の外周面から径方向外方に向かって突設されるリンク部３６と、を備えている。第２リンク３２は、棒状に形成される。また、前後一対のスライダ１１、１１のうち前側のスライダ１１の上面に支持筒部材３８が固定される。該支持筒部材３８内には、円筒状の回動筒部材３９が支持筒部材３８に対してベアリング４０を介して回動自在に支持される。回動筒部材３９の上端面に第１リンク３１の円環状部３５が固定される。 2 to 4, a rotating cylinder member 39, which will be described later, is provided on the upper surface of the front slider 11 of the front and rear pair of sliders 11, 11, and a rear side of the front and rear pair of sliders 11, 11. It is connected to the slider 11 by a link mechanism 6. The link mechanism 6 includes a first link 31 and a second link 32 rotatably connected to the tip of a link portion 36 of the first link 31. The first link 31 includes an annular portion 35 (see also FIG. 6) and a link portion 36 that projects radially outward from the outer peripheral surface of the annular portion 35. The second link 32 is formed into a rod shape. Further, a support cylinder member 38 is fixed to the upper surface of the front slider 11 of the pair of front and rear sliders 11, 11. A cylindrical rotating cylinder member 39 is rotatably supported within the support cylinder member 38 via a bearing 40 with respect to the support cylinder member 38 . An annular portion 35 of the first link 31 is fixed to the upper end surface of the rotating cylinder member 39.

図６も参照して、第１リンク３１の円環状部３５の上面に、互いに間隔を置いて配置される一対の中間部材４１、４１を介して、搬送体５の一対の姿勢保持部材２４、２４が一体的に連結される。中間部材４１は、ブロック状に形成される。一対の中間部材４１、４１は、一対の姿勢保持部材２４、２４と同じ方向に沿って間隔を開けて配置される。一対の中間部材４１、４１間の距離と、搬送体５の一対の支持部材２６、２６間の距離とは略同じである。第１リンク３１の円環状部３５の内径と、回動筒部材３９の内径とは略一致する。そして、第１リンク３１のリンク部３６の先端と、第２リンク３２の軸方向一端とが第１連結ピン４４により互いに回動自在に連結される。第１連結ピン４４は、上下方向に沿って延びる。 Referring also to FIG. 6, a pair of posture holding members 24, 24 are integrally connected. The intermediate member 41 is formed into a block shape. The pair of intermediate members 41, 41 are arranged along the same direction as the pair of posture holding members 24, 24 with an interval therebetween. The distance between the pair of intermediate members 41, 41 and the distance between the pair of support members 26, 26 of the carrier 5 are approximately the same. The inner diameter of the annular portion 35 of the first link 31 and the inner diameter of the rotating cylinder member 39 substantially match. The tip of the link portion 36 of the first link 31 and one axial end of the second link 32 are rotatably connected to each other by a first connecting pin 44 . The first connecting pin 44 extends along the vertical direction.

一方、第２リンク３２の軸方向他端部は、後側のスライダ１１の上面から立設される第２連結ピン４５に対して回動自在に連結される。そして、図４～図６を参照して、リンク機構６の第１リンク３１の回動動作に伴って、回動筒部材３９が支持筒部材３８に対して回動すると共に搬送体５も回動する。その結果、進行方向に沿って間隔を置いて隣接する前後一対のスライダ１１、１１間の距離を変化させることで、リンク機構６を介して、前側のスライダ１１上に配置される回動筒部材３９が支持筒部材３８の径方向中心を中心にして回動すると共に、搬送体５が支持筒部材３８の径方向中心を中心にして回動する。 On the other hand, the other axial end of the second link 32 is rotatably connected to a second connecting pin 45 erected from the upper surface of the slider 11 on the rear side. Referring to FIGS. 4 to 6, as the first link 31 of the link mechanism 6 rotates, the rotating cylinder member 39 rotates with respect to the support cylinder member 38, and the carrier 5 also rotates. move. As a result, by changing the distance between the pair of front and rear sliders 11, 11 adjacent to each other at intervals along the traveling direction, the rotary cylinder member is arranged on the front slider 11 via the link mechanism 6. 39 rotates around the radial center of the support cylinder member 38, and the conveyor 5 rotates around the radial center of the support cylinder member 38.

図１を参照して、本実施形態では、リニアコンベア４の物品搬入位置にて、前後一対のスライダ１１、１１間の距離を所定の最大距離として、搬送体５を構成する一対の姿勢保持部材２４，２４間の収容空間４７（図３参照）の長手方向が、リニアコンベア４の直線状部１５の長手方向に一致するように、搬送体５の一対の姿勢保持部材２４、２４の向きが制御される。一方、リニアコンベア４の物品搬出範囲（後述）では、前後一対のスライダ１１、１１間の距離を所定の最小距離として、搬送体５の一対の姿勢保持部材２４、２４間の収容空間４７（図３参照）の長手方向が、リニアコンベア４の直線状部１５の長手方向と平面視にて直交する方向（幅方向）に一致するように、搬送体５の一対の姿勢保持部材２４、２４の向きが制御される。なお、物品搬出範囲は、リニアコンベア４の上側の直線状部１５であって、その搬送方向下流側（図１の右側）となる。 Referring to FIG. 1, in the present embodiment, at the article loading position of the linear conveyor 4, the distance between the front and rear pair of sliders 11, 11 is set to a predetermined maximum distance, and the pair of posture holding members constituting the conveyor 5 The orientation of the pair of posture holding members 24, 24 of the conveyor 5 is such that the longitudinal direction of the accommodation space 47 (see FIG. 3) between the conveyors 24, 24 coincides with the longitudinal direction of the linear portion 15 of the linear conveyor 4. controlled. On the other hand, in the article carrying range (described later) of the linear conveyor 4, the distance between the pair of front and rear sliders 11, 11 is set as a predetermined minimum distance, and the accommodation space 47 (see Fig. The pair of posture holding members 24, 24 of the conveyor 5 are arranged so that the longitudinal direction (see 3) coincides with the direction (width direction) orthogonal to the longitudinal direction of the linear portion 15 of the linear conveyor 4 in plan view. Orientation is controlled. Note that the article delivery range is the upper straight portion 15 of the linear conveyor 4, and is on the downstream side in the conveyance direction (the right side in FIG. 1).

図１を参照して、リニアコンベア４の上側の直線状部１５であって、その搬送方向下流側（図１の右側）に、物品搬出手段（図示略）が配置される。この物品搬出手段が配置されるリニアコンベア４の範囲が、物品搬出手段により各搬送体５から搬出される物品搬出範囲となる。そして、物品搬出範囲に、前後一対のスライダ１１、１１に対応する搬送体５が間隔を置いて複数、図１では５台停止されると、物品搬出手段により、各搬送体５から物品Ｗを若干上昇させ、各搬送体５のストッパ部材２５、２５を避けるようにして、リニアコンベア４の直線状部１５の長手方向と平面視にて直交する方向（幅方向）に向かって搬出する。要するに、物品搬出手段による物品Ｗの搬出方向は、リニアコンベア４の直線状部１５の長手方向と平面視にて直交する方向（幅方向）と一致する。また、物品搬出手段により、物品搬出範囲に停止された搬送体５の数量に対応する複数の物品Ｗが同時に搬出される。 Referring to FIG. 1, an article delivery means (not shown) is disposed on the upper straight portion 15 of the linear conveyor 4 on the downstream side in the conveyance direction (on the right side in FIG. 1). The range of the linear conveyor 4 where this article carrying-out means is arranged becomes the article carrying-out range in which the articles are carried out from each conveyor 5 by the article carrying-out means. When a plurality of carriers 5 (five in FIG. 1) corresponding to the pair of front and rear sliders 11 are stopped at intervals in the article carrying range, the article W is removed from each carrier 5 by the article carrying means. The conveyor 5 is slightly raised to avoid the stopper members 25, 25 of each conveyor 5, and conveyed in a direction (width direction) perpendicular to the longitudinal direction of the linear portion 15 of the linear conveyor 4 in plan view. In short, the direction in which the article W is carried out by the article carrying means coincides with the direction (width direction) orthogonal to the longitudinal direction of the linear portion 15 of the linear conveyor 4 in plan view. Further, the article carrying out means simultaneously carries out a plurality of articles W corresponding to the number of conveyors 5 stopped in the article carrying range.

図１に示す制御装置７は、特に、リニアコンベア４の各スライダ１１、すなわち各搬送体５の位置、搬送体５に対応する前後一対のスライダ１１、１１間の距離、及び物品搬出手段の動作等を、前記リニアスケールを含む各種検出センサ（図示略）からの検出信号に基づき制御するものである。当該制御装置７による制御方法は、後述する本実施形態に係る物品搬送装置１の作用を説明する際に詳しく説明する。 In particular, the control device 7 shown in FIG. 1 controls the position of each slider 11 of the linear conveyor 4, that is, each conveyor 5, the distance between the pair of front and rear sliders 11, 11 corresponding to the conveyor 5, and the operation of the article delivery means. etc. are controlled based on detection signals from various detection sensors (not shown) including the linear scale. The control method by the control device 7 will be explained in detail when explaining the operation of the article conveyance device 1 according to the present embodiment, which will be described later.

次に、本実施形態に係る物品搬送装置１の作用を説明する。なお、上述したように、以下で説明する、リニアコンベア４の各スライダ１１、１１、すなわち各搬送体５の位置、搬送体５に対応する前後一対のスライダ１１、１１間の距離、及び物品搬出手段の動作は、制御装置７により制御されている。
図１及び図２を参照して、搬送体５を有した前後一対のスライダ１１、１１間の距離が所定の最大距離であり、搬送体５は、その一対の姿勢保持部材２４、２４間の収容空間４７の長手方向がリニアコンベア４の直線状部１５の長手方向に一致した状態（搬送体５の回動角度が０°）で、物品供給手段１８の下側のベルトユニット２０の搬出側先端部が一対の姿勢保持部材２４、２４間（一対のストッパ部材２５、２５間）に位置しつつ物品搬入位置に連続して移動する。 Next, the operation of the article conveyance device 1 according to this embodiment will be explained. In addition, as described above, the position of each slider 11, 11 of the linear conveyor 4, that is, each conveyor 5, the distance between the pair of front and rear sliders 11, 11 corresponding to the conveyor 5, and the article delivery, which will be explained below. The operation of the means is controlled by a control device 7.
1 and 2, the distance between the pair of front and rear sliders 11, 11 having the carrier 5 is a predetermined maximum distance, and the carrier 5 is When the longitudinal direction of the storage space 47 is aligned with the longitudinal direction of the linear portion 15 of the linear conveyor 4 (the rotation angle of the conveyor 5 is 0°), the belt unit 20 on the lower side of the article supply means 18 is placed on the discharge side. The distal end is located between the pair of posture holding members 24, 24 (between the pair of stopper members 25, 25) and continuously moves to the article loading position.

そして、図２を参照して、物品供給手段１８の一対のベルトユニット２０、２０の搬出側先端部から物品Ｗが搬出されたタイミングで、搬送体５を有した前後一対のスライダ１１、１１が物品搬入位置に到達して、一対のベルトユニット２０、２０の搬出側先端部からの物品Ｗが搬送体５の一対の姿勢保持部材２４、２４間に搬入される。そして、物品Ｗを受け取った搬送体５を有する前後一対のスライダ１１、１１は停止することなく、その間の距離を維持しながら、すなわち搬送体５がその態様を維持しながら前進して、物品供給手段１８の下側のベルトユニット２０から抜け出す。この動作を繰り返すことで、物品供給手段１８の一対のベルトユニット２０、２０の搬出側先端部から連続して（互いの間隔が非常に小さい状態で）搬出される多数の物品Ｗを、リニアコンベア４の基台１０上を連続して移動する多数の前後一対のスライダ１１、１１の搬送体５（一対の姿勢保持部材２４、２４）によって次々受け取り、各搬送体５は停止することなく、物品搬出範囲に向かって移動する。 Referring to FIG. 2, at the timing when the article W is carried out from the discharging side tips of the pair of belt units 20, 20 of the article supply means 18, the pair of front and rear sliders 11, 11 having the conveyor 5 are moved. Upon reaching the article loading position, the article W from the distal end portions of the pair of belt units 20, 20 on the discharge side is loaded between the pair of posture holding members 24, 24 of the conveyor 5. Then, the pair of front and rear sliders 11, 11 having the conveyor 5 that has received the article W moves forward without stopping, while maintaining the distance between them, that is, while the conveyor 5 maintains its state, and supplies the article. It slips out from the belt unit 20 below the means 18. By repeating this operation, a large number of articles W that are continuously carried out (with very small intervals between them) from the discharging side tips of the pair of belt units 20, 20 of the article supplying means 18 are transferred to the linear conveyor. The articles are received one after another by a large number of pairs of front and rear sliders 11, 11's carriers 5 (a pair of posture holding members 24, 24) that continuously move on the bases 10 of 4, and each carrier 5 receives the articles without stopping. Move towards the removal area.

続いて、図１、図５及び図６を参照して、物品Ｗを受け取った搬送体５に対応した前後一対のスライダ１１、１１は、基台１０の上側の直線状部１５を前進しながら、前後一対のスライダ１１、１１間の距離が次第に小さくなることで、リンク機構６を介して、前側のスライダ１１上に配置される回動筒部材３９が支持筒部材３８の径方向中心を中心に図１において平面視で反時計回り方向に回動すると共に搬送体５が支持筒部材３８の径方向中心を中心にして同方向に回動する。そして、物品搬出範囲に近づくと、各搬送体５を有する前後一対のスライダ１１、１１間の距離が所定の最小距離になることで、搬送体５は、その一対の姿勢保持部材２４、２４間の収容空間４７の長手方向が、リニアコンベア４の直線状部１５と平面視にて直交する方向に一致するまで回動した状態（搬送体５の回動角度が９０°）となる。 Next, referring to FIGS. 1, 5, and 6, the pair of front and rear sliders 11, 11 corresponding to the carrier 5 that has received the article W moves forward on the linear portion 15 on the upper side of the base 10. As the distance between the pair of front and rear sliders 11 gradually decreases, the rotary cylinder member 39 disposed on the front slider 11 moves around the radial center of the support cylinder member 38 via the link mechanism 6. In FIG. 1, the carrier 5 rotates counterclockwise in a plan view, and the carrier 5 rotates in the same direction about the radial center of the support cylinder member 38. Then, when approaching the article carrying range, the distance between the pair of front and rear sliders 11, 11 having each carrier 5 becomes a predetermined minimum distance, so that the carrier 5 is moved between the pair of posture holding members 24, 24. is rotated until the longitudinal direction of the accommodation space 47 coincides with the direction orthogonal to the linear portion 15 of the linear conveyor 4 in plan view (the rotation angle of the conveyor 5 is 90°).

続いて、図１を参照して、回動した各搬送体５（前後一対のスライダ１１、１１）は停止することなく、この態様を維持した状態で前進して、物品搬出範囲の手前で待機される。続いて、物品搬出範囲における搬送体５が所定数に満たなければ、待機していた搬送体５が、物品搬出範囲の所定位置まで前進される。そして、図１を参照して、物品搬出範囲において、所定数の、物品Ｗを収容した搬送体５、本実施形態では５台の搬送体５が、互いに間隔を置いた所定位置にそれぞれ配置されたことを検出すると、物品搬出手段が作動される。 Next, referring to FIG. 1, each rotated conveyance body 5 (a pair of front and rear sliders 11, 11) moves forward while maintaining this state without stopping, and waits in front of the article carrying range. be done. Subsequently, if the number of carriers 5 in the article carrying range is less than a predetermined number, the waiting carriers 5 are advanced to a predetermined position in the article carrying range. Referring to FIG. 1, in the article carrying range, a predetermined number of carriers 5 containing articles W, five carriers 5 in this embodiment, are arranged at predetermined positions spaced apart from each other. When this is detected, the article delivery means is activated.

そして、物品搬出手段が作動されると、当該物品搬出手段により、各搬送体５（５台の搬送体５）から物品Ｗ（５個の物品Ｗ）を若干上昇させ、各搬送体５のストッパ部材２５、２５を避けるようにして、リニアコンベア４の直線状部１５の長手方向と平面視にて直交する方向（幅方向）に向かってそれぞれ搬出する。続いて、図１を参照して、物品搬出範囲にて、各搬送体５から各物品Ｗがそれぞれ搬出されると、空の各搬送体５を有する前後一対のスライダ１１、１１は、その間の距離を所定の最小距離とした状態を維持しながら基台１０の半円弧状部１４（図１の右側の半円弧状部１４）を進む。なお、物品搬出手段により、各搬送体５から各物品Ｗがそれぞれ搬出された後、空の各搬送体５と物品搬出手段とは干渉しないので、空の各搬送体５を、物品搬出手段が初期位置に戻るまで待たずに移動させることができ、搬出のタクトタイムを速くすることができる。 Then, when the article carrying out means is operated, the article W (five articles W) is slightly raised from each conveying body 5 (five conveying bodies 5) by the article conveying means, and the stopper of each conveying body 5 is raised. While avoiding the members 25, 25, they are carried out in a direction (width direction) perpendicular to the longitudinal direction of the linear portion 15 of the linear conveyor 4 in plan view. Subsequently, referring to FIG. 1, when each article W is carried out from each carrier 5 in the article carrying range, the pair of front and rear sliders 11, 11 having each empty carrier 5 are The object moves along the semicircular arc portion 14 of the base 10 (the semicircular arc portion 14 on the right side in FIG. 1) while maintaining the distance at a predetermined minimum distance. Note that after each article W is discharged from each conveyance body 5 by the article discharge means, each empty conveyance body 5 and the article discharge means do not interfere with each other, so that each empty conveyance body 5 is transported by the article discharge means. It can be moved without waiting until it returns to the initial position, and the takt time for unloading can be made faster.

続いて、空の各搬送体５を有する前後一対のスライダ１１、１１が、基台１０の下側の直線状部１５に到達すると、各搬送体５を有する前後一対のスライダ１１、１１は、基台１０の下側の直線状部１５を前進しながら、前後一対のスライダ１１、１１間の距離が次第に大きくなることで、図４も参照して、リンク機構６を介して、前側のスライダ１１上に配置される回動筒部材３９が回動すると共に搬送体５が同方向に回動する。 Subsequently, when the pair of front and rear sliders 11, 11 having each empty carrier 5 reach the lower linear portion 15 of the base 10, the pair of front and rear sliders 11, 11 having each carrier 5, While moving forward on the lower linear portion 15 of the base 10, the distance between the pair of front and rear sliders 11 gradually increases, and as shown in FIG. When the rotating cylinder member 39 disposed on the rotating cylinder member 11 rotates, the carrier 5 also rotates in the same direction.

そして、空の搬送体５を有する前後一対のスライダ１１、１１間の距離が所定の最大距離になることで、空の搬送体５は、その一対の姿勢保持部材２４、２４間の収容空間４７の長手方向が、リニアコンベア４の直線状部１５の長手方向に一致した状態となり、基台１０の下側の直線状部１５及び半円弧状部１４（図１の左側の半円弧状部１４）を前進して、物品搬入位置の手前で順次待機される。 Then, when the distance between the pair of front and rear sliders 11, 11 having the empty carrier 5 becomes a predetermined maximum distance, the empty carrier 5 can be stored in the accommodation space 47 between the pair of posture holding members 24, 24. The longitudinal direction of the linear conveyor 4 coincides with the longitudinal direction of the linear part 15 of the linear conveyor 4, and the linear part 15 and the semicircular arc part 14 on the lower side of the base 10 (the semicircular arc part 14 on the left side in FIG. ) and wait in sequence in front of the article loading position.

以上説明したように、本実施形態に係る物品搬送装置１では、互いに独立して位置制御可能な多数のスライダ１１が基台１０に沿って移動自在に構成されるリニアコンベア４と、進行方向に沿って間隔を置いて配置される前後一対のスライダ１１、１１のうち前側のスライダ１１に回動自在に支持され、物品Ｗを受け入れる搬送体５と、該搬送体５と後側のスライダ１１とを連結するリンク機構６と、前後一対のスライダ１１、１１間の距離を制御することで、リンク機構６を介して、搬送体５の回動角度を制御する制御ロジックを含む制御装置７と、を備えている。 As explained above, in the article conveyance device 1 according to the present embodiment, the linear conveyor 4 is configured such that a large number of sliders 11 whose positions can be controlled independently of each other are movable along the base 10, and A transport body 5 rotatably supported by the front slider 11 of a pair of front and rear sliders 11, 11 arranged at intervals along the line and receiving the article W, and the transport body 5 and the rear slider 11. A control device 7 including a control logic that controls the rotation angle of the carrier 5 via the link mechanism 6 by controlling the distance between the link mechanism 6 that connects the sliders 11 and the pair of front and rear sliders 11, 11; It is equipped with

このように、本実施形態に係る物品搬送装置１では、特に、リニアコンベア４を採用して、制御装置７によって、前後一対のスライダ１１、１１間の距離を制御することで、リンク機構６を介して、搬送体５の回動角度を制御できるので、物品供給手段１８による物品Ｗの搬送体５への供給方向と、物品搬出手段による各物品Ｗの各搬送体５からの搬出方向とを自在に設定することができる。その結果、搬送体５の向き、すなわち物品Ｗの向きを、時間を掛けて変更することができるので、高速運転であっても、集積体である物品Ｗの重なりが乱れることなく安定して搬送することが可能になる。また、物品供給手段１８及び物品搬出手段等を、設置場所の限られたレイアウトに適宜対応して設置することができ、スペースを有効に活用することができる。言い換えれば、リニアコンベア４に対する、物品供給手段１８及び物品搬出手段等の相対位置が限定されることがないので、設置場所に対する汎用性が優れたものになる。 In this way, the article conveyance device 1 according to the present embodiment particularly employs the linear conveyor 4, and controls the link mechanism 6 by controlling the distance between the pair of front and rear sliders 11, 11 by the control device 7. Since the rotation angle of the conveyor 5 can be controlled through the media, the direction in which the article W is supplied to the conveyor 5 by the article supply means 18 and the direction in which each article W is carried out from each conveyor 5 by the article discharge means can be controlled. Can be set freely. As a result, the direction of the conveyor 5, that is, the direction of the articles W, can be changed over time, so even during high-speed operation, the articles W, which are stacks, are stably conveyed without being disturbed. It becomes possible to do so. In addition, the article supply means 18, the article transport means, etc. can be installed appropriately in accordance with the limited layout of the installation location, and the space can be used effectively. In other words, the relative positions of the article supplying means 18, article carrying means, etc. with respect to the linear conveyor 4 are not limited, so the versatility regarding the installation location is excellent.

さらに、本実施形態に係る物品搬送装置１は、リニアコンベア４を採用することで、制御装置７により、前後一対のスライダ１１、１１が基台１０に沿って移動しながら、前後一対のスライダ１１、１１間の距離を次第に変化させて、搬送体５を回動させることが可能になる。その結果、搬送体５が、前後一対のスライダ１１、１１の移動に伴って回動しながら移動できるので、物品Ｗの搬送に対して時間的なロスを無くすことができ、ひいては、生産性を向上させることができる。しかも、物品Ｗの向きを、時間を掛けて変更するので、高速運転であっても、集積体である物品Ｗの重なりが乱れることなく安定して搬送することが可能になる。 Further, the article conveying device 1 according to the present embodiment employs the linear conveyor 4, so that while the pair of front and rear sliders 11, 11 are moved along the base 10 by the control device 7, the pair of sliders 11, 11 of the front and rear , 11 can be gradually changed to rotate the carrier 5. As a result, the conveyor 5 can move while rotating in accordance with the movement of the pair of front and rear sliders 11, 11, so it is possible to eliminate time loss in conveying the article W, and as a result, productivity can be improved. can be improved. Furthermore, since the orientation of the articles W is changed over time, even during high-speed operation, it is possible to stably transport the articles W as a stack without disturbing the overlapping of the articles W.

さらにまた、本実施形態に係る物品搬送装置１は、リニアコンベア４を採用することで、制御装置７により、搬送体５を所定の回動角度まで回動させた後、停止させることなく、前後一対のスライダ１１、１１間の距離を保持した状態で搬送体５を前進させることが可能になる。その結果、搬送距離が長い場合でも、物品Ｗを所定の物品搬出範囲まで速やかに搬送することができ、さらに生産性を向上させることができる。 Furthermore, by employing the linear conveyor 4, the article conveyance device 1 according to the present embodiment allows the control device 7 to rotate the conveyor 5 up to a predetermined rotation angle and then move it forward and backward without stopping. It becomes possible to move the carrier 5 forward while maintaining the distance between the pair of sliders 11, 11. As a result, even if the conveyance distance is long, the article W can be quickly conveyed to a predetermined article carry-out range, and productivity can be further improved.

さらにまた、本実施形態に係る物品搬送装置１では、リニアコンベア４を採用することで、物品Ｗを搬送体５により搬送しながら、当該搬送体５の向きを変えることができ、その結果、物品供給手段１８による物品Ｗの搬送体５への供給方向と、物品搬出手段による物品Ｗの搬送体５からの搬出方向とを平面視にて直交させることができる。そして、物品供給手段１８をリニアコンベア４の基台１０の直上に配置することができる。これにより、従来（特許文献１に記載のカートナ）よりも、物品供給手段１８及び物品搬出手段を含む物品搬送装置１全体を平面視で非常にコンパクトにすることができ、ひいては、占有スペースを縮小でき、スペース効率を非常に良好にすることができる。 Furthermore, in the article conveyance device 1 according to the present embodiment, by employing the linear conveyor 4, the direction of the conveyor 5 can be changed while the article W is conveyed by the conveyor 5, and as a result, the article The direction in which the article W is supplied to the carrier 5 by the supply means 18 and the direction in which the article W is carried out from the carrier 5 by the article carry-out means can be made orthogonal in plan view. The article supply means 18 can be placed directly above the base 10 of the linear conveyor 4. As a result, the entire article conveying device 1 including the article supplying means 18 and the article carrying means can be made much more compact in plan view than the conventional cartoner (the cartoner described in Patent Document 1), and the occupied space can be reduced. This makes it possible to achieve very good space efficiency.

さらにまた、本実施形態に係る物品搬送装置１では、制御装置７は、物品供給手段１８により連続して供給される多数の物品Ｗが、リニアコンベア４の基台１０を連続して移動する多数の搬送体５に連続して搬入される一方、複数の搬送体５、５が停止した状態で、各搬送体５、５から同時に各物品Ｗ、Ｗが搬出される制御ロジックを含む。これにより、生産速度を上げることができ、ひいては生産性を向上させることができる。 Furthermore, in the article conveying device 1 according to the present embodiment, the control device 7 controls the control device 7 to control the control device 7 so that a large number of articles W continuously supplied by the article supply means 18 are continuously moved on the base 10 of the linear conveyor 4. The control logic includes a control logic in which the articles W, W are continuously carried into the conveying body 5, while the articles W, W are simultaneously conveyed out from the respective conveying bodies 5, 5 while the plurality of conveying bodies 5, 5 are stopped. This makes it possible to increase production speed and, in turn, improve productivity.

なお、本実施形態に係る物品搬送装置１では、搬送体５と後側のスライダ１１とをリンク機構６で連結しているが、リンク機構６を、前後一対のスライダ２１、２１間の距離を変化させることで搬送体５を回動させるべく、直線運動を回転運動に置換するラック＆ピニオン機構等の歯車機構や、他の直動回転変換機構に変えて採用してもよい。このラック＆ピニオン機構等の歯車機構等は、半円弧状部１４、１４を含む無端状のリニアコンベア４に採用することは困難であるが、半円弧状部１４、１４を含まないリニアコンベアに採用することが可能となる。 In the article conveying device 1 according to the present embodiment, the conveying body 5 and the rear slider 11 are connected by the link mechanism 6. In order to rotate the carrier 5 by changing the rotational speed, a gear mechanism such as a rack and pinion mechanism that replaces linear motion with rotational motion, or other linear motion rotation conversion mechanism may be used instead. Although it is difficult to employ a gear mechanism such as this rack and pinion mechanism in the endless linear conveyor 4 including the semicircular arc parts 14, 14, it is difficult to apply it to the linear conveyor 4 that does not include the semicircular arc parts 14, 14. It becomes possible to adopt.

１ 物品搬送装置，４ リニアコンベア，５ 搬送体，６ リンク機構（連結機構），７ 制御装置，１０ 基台，１１ スライダ，１８ 物品供給手段，Ｗ 物品 1 Article conveyance device, 4 Linear conveyor, 5 Conveyor, 6 Link mechanism (connection mechanism), 7 Control device, 10 Base, 11 Slider, 18 Article supply means, W Article

Claims (5)

物品を搬送する物品搬送装置であって、
互いに独立して位置制御可能な多数のスライダが基台に沿って移動自在に構成されるリニアコンベアと、
前記多数のスライダのうち進行方向に沿って間隔を置いて配置される前後一対のスライダにおいて、一方のスライダに回動自在に支持され、前記物品を受け入れる搬送体と、
該搬送体と他方のスライダとを連結する連結機構と、
前記前後一対のスライダ間の距離を制御することで、前記連結機構を介して、前記搬送体の回動角度を制御する制御ロジックを含む制御装置と、
を備えることを特徴とする物品搬送装置。 An article conveying device that conveys articles,
A linear conveyor configured with a large number of sliders whose positions can be controlled independently of each other and which are movable along a base;
A conveying body rotatably supported by one slider of a pair of front and rear sliders arranged at intervals along the traveling direction among the plurality of sliders and receiving the article;
a connection mechanism that connects the conveyor and the other slider;
a control device including a control logic that controls a rotation angle of the carrier via the coupling mechanism by controlling a distance between the pair of front and rear sliders;
An article conveyance device comprising: 前記制御装置は、前記前後一対のスライダが前記基台に沿って移動しながら、該前後一対のスライダ間の距離を次第に変化させて、前記搬送体を回動させる制御ロジックを含むことを特徴とする請求項１に記載の物品搬送装置。 The control device includes control logic that rotates the carrier by gradually changing the distance between the pair of front and rear sliders while the pair of front and rear sliders moves along the base. The article conveying device according to claim 1. 前記基台は、無端状に構成されることを特徴とする請求項１に記載の物品搬送装置。 The article conveying device according to claim 1, wherein the base is configured in an endless shape. 前記物品の前記搬送体への供給方向と、物品の搬送体からの搬出方向とが平面視にて直交することを特徴とする請求項１に記載の物品搬送装置。 The article conveyance device according to claim 1, wherein the direction in which the article is supplied to the conveyor and the direction in which the article is taken out from the conveyor are orthogonal in plan view. 前記制御装置は、連続して供給される多数の前記物品が、前記リニアコンベアを連続して移動する多数の前記搬送体に連続して搬入される一方、前記複数の搬送体が停止した状態で、各搬送体から同時に各物品が搬出される制御ロジックを含むことを特徴とする請求項１に記載の物品搬送装置。 The control device may be arranged such that the plurality of continuously supplied articles are continuously carried into the plurality of conveyance bodies that continuously move on the linear conveyor, while the plurality of conveyance bodies are stopped. The article conveyance apparatus according to claim 1, further comprising control logic for simultaneously unloading each article from each conveyor.
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