Transport device

Abstract

To provide a transport device capable of realizing smooth transportation of objects.SOLUTION: A transport device transporting a plurality of objects in a transport direction from upstream to downstream comprises: an accumulating section arranged at the most upstream side to accumulate the plurality of objects; a constant-speed transport section arranged at the most downstream side to transport the plurality of objects by arranging them in the transport direction; a first variable-speed transport section arranged at the upstream side from the constant-speed transport section to adjust delivery timing of the plurality of objects to the constant-speed transport section; and a second variable-speed transport section arranged at the upstream side from the first variable-speed transport section and the downstream side from the accumulating section to adjust delivery timing of the plurality of objects from the accumulating section to the first variable-speed transport section.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport device. [Background technology]

[0002] Patent document 1 describes an article supplying device equipped with multiple transport conveyors that are driven by a drive motor to sequentially receive transported articles and supply the articles to a processing machine such as a packaging machine at predetermined intervals in a timed manner.

[0003] The multiple transport conveyors are arranged in series in the transport direction, and each transport conveyor is driven by a drive motor.

[0004] When there is a delay in the timing of supplying articles to the processing machine among the multiple conveying conveyors, the processing machine and the first conveying conveyor are stopped, and when a specific conveying conveyor among the second conveying conveyors arranged upstream of the first conveying conveyor receives articles, based on detection of articles being transported by the conveying conveyor adjacent to the upstream side of the specific conveying conveyor, the drive motor is driven to run intermittently to transport approximately one article at a time, and the articles are stored.

[0005] When the processor is ready to operate and the number of articles stored on a particular transport conveyor exceeds a predetermined number, the first transport conveyor is restarted to transport the articles toward the first transport conveyor. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2010-260685 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, the article supply device of Patent Document 1 stops the processor and the first transport conveyor when there is a delay in the timing of supplying articles to the processor (assuming that there will be a stop time waiting for the downstream process to supply the articles). For this reason, it is unavoidable that a time loss occurs in the downstream process due to waiting for transport (waiting for storage).

[0008] The present invention has been made based on the above-mentioned awareness of the problems, and has an object to provide a transport device capable of realizing smooth transport of objects. [Means for solving the problem]

[0009] The conveying device of this embodiment is a conveying device that conveys multiple objects in a conveying direction from the upstream side to the downstream side, and is characterized in that it has an accumulation section provided at the most upstream side for accumulating the multiple objects, a constant speed conveying section provided at the most downstream side for conveying the multiple objects in a line in the conveying direction, a first variable speed conveying section provided upstream of the constant speed conveying section for adjusting the timing at which the multiple objects are transferred to the constant speed conveying section, and a second variable speed conveying section provided upstream of the first variable speed conveying section and downstream of the accumulation section for adjusting the timing at which the multiple objects are transferred from the accumulation section to the first variable speed conveying section. Effect of the Invention

[0010] According to the present invention, it is possible to provide a transport device that can realize smooth transport of objects. [Brief description of the drawings]

[0011] [Figure 1] 1A and 1B are a top view and a side view showing a conveying device of the present embodiment. [Diagram 2] FIG. 2 is a block diagram showing a conveying device according to the present embodiment. [Diagram 3] 3A and 3B are a first top view and a side view showing the operation of the transport device of the present embodiment. [Figure 4] 6A and 6B are a second top view and a side view showing the operation of the transport device of the present embodiment. [Diagram 5] 11A and 11B are a third top view and a side view showing the operation of the transport device of the present embodiment. [Figure 6] 13A and 13B are a fourth top view and a side view showing the operation of the transport device of the present embodiment. [Figure 7] 4 is a first flowchart showing the operation of the transport device of the present embodiment. [Figure 8] 6 is a second flowchart showing the operation of the transport device of the present embodiment. [Figure 9] FIG. 4 is a perspective view showing an example of a guide portion provided in the conveying device of the present embodiment. [Figure 10] 1A and 1B are a top view and a side view showing a conveying device of a comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, the embodiments will be described with reference to the drawings. However, the drawings are schematic or conceptual, and the dimensions and ratios of each drawing are not necessarily the same as those in reality. In addition, even when the same parts are shown between the drawings, the dimensional relationships and ratios of each may be different. In particular, the following embodiments are examples of devices and methods for embodying the technical idea of ​​the present invention, and the technical idea of ​​the present invention is not specified by the shape, structure, arrangement, etc. of the components. In the following description, elements having the same function and configuration are given the same reference numerals, and duplicated descriptions are omitted.

[0013] <Terminology> In this specification, the "target object" and the "multiple targets" may be, for example, fruits and vegetables including at least one of Japanese ginger, shishito pepper, and okra. In the specific embodiment described below, the "target object" and the "multiple targets" are explained by exemplifying a case where the "target object" and the "multiple targets" are Japanese ginger, but there is a degree of freedom in what is applied as the "target object" and the "multiple targets", and various design modifications are possible. For example, the "target object" and the "multiple targets" may be fruits and vegetables other than Japanese ginger, shishito pepper, and okra, or may be other than fruits and vegetables.

[0014] In this specification, "bringing the intervals in the transport direction of each of the multiple objects (gingers) on the constant speed transport section (constant speed conveyor) closer to equal intervals" broadly means enabling smooth transport of the objects (gingers) by preventing re-input (reprocessing) due to oversupply and waiting times due to undersupply for each of the multiple objects (gingers) transported sequentially on the constant speed transport section (constant speed conveyor) (maintaining an appropriate distance between adjacent objects (gingers) so that they are neither too far apart nor too close).

[0015] On the other hand, in the narrow sense, it means that the distance between adjacent objects (gingers) among the multiple objects (gingers) conveyed in sequence on a constant speed conveying section (constant speed conveyor) is the same. However, taking into consideration that the shapes and sizes of the objects (gingers) are usually different in the strict sense, it may also include cases where the distance between adjacent objects (gingers) is "almost the same." Specifically, when the distance between adjacent objects (gingers) is Z A , Z B , Z C , ... A , Z B , Z C , . . . may be defined as "almost the same" when any one of the reference distances Z is within a predetermined range. A is the reference distance, Z B , Z C When the reference distance is 0.9Z A <Z B <1.1Z A , 0.9Z A <Z C <1.1Z AThe term "substantially the same" may be defined as satisfying the above. When measuring the distance between adjacent objects (myoga), the distance between the centers of the adjacent objects (myoga) may be measured, or the distance between the ends of the adjacent objects (myoga). In a specific embodiment described later, the distance between the conveying direction of each of the multiple objects (myoga) in the constant speed conveying section (constant speed conveyor) is expressed as "Z" in a simplified form including the case of "substantially the same". Even in the narrow definition described above, smooth conveyance of the objects (myoga) can be realized by preventing re-input (reprocessing) due to oversupply and waiting time due to undersupply (maintaining an appropriate distance so that adjacent objects (myoga) are not too far apart or too close).

[0016] In this specification, "the speed of the first and second variable speed conveying units (first and second intermittent / variable speed conveyors) is controlled by the control unit" is used as a concept including switching between driving and non-driving of the first and second variable speed conveying units (first and second intermittent / variable speed conveyors) and switching the speed (e.g., three levels of high speed, medium speed, and low speed) when driving the first and second variable speed conveying units (first and second intermittent / variable speed conveyors). In other words, "the speed of the first and second variable speed conveying units (first and second intermittent / variable speed conveyors)" is used as a concept including zero.

[0017] <Social issues> After being harvested, fruits and vegetables are collected at collection and shipping points, where they are sorted, inspected, packaged, labeled, boxed, and then delivered to wholesalers and retail stores. Some of these tasks, such as packaging and labeling, which are closer to shipping, have been automated by machines, but the majority of tasks closer to collection are still done by hand. However, the aging of workers has progressed in recent years, and there are more retirees than new workers, accelerating the labor shortage and becoming a major social issue.

[0018] <Automating work at collection and shipping points> In order to solve this labor shortage problem, the use of machines to automate and reduce the labor required for processes that have previously relied on human labor has been considered, and machines that directly grasp fruits and vegetables and pack them into trays, as well as machines that pack wrapped trays into boxes, have been introduced.

[0019] <Increasing the efficiency of equipment and work> Fruits and vegetables, trays, boxes, etc. handled by the equipment are often transported using conveyors, but in order to improve workability and equipment efficiency, it is desirable to control the supply volume. If there is an oversupply, the people or robots will not be able to process it all and will have to re-input (reprocess), and if there is an insufficient supply, the people or robots will have to wait. In either case, loss will occur, so it is important to control the supply volume to match the work capacity.

[0020] <Conveyor device of comparative example> 10A and 10B are a top view and a side view showing a comparative example of a conveying device 100. As shown in Fig. 10A and Fig. 10B, the comparative example of the conveying device 100 has an upstream conveyor / parts feeder 200 and a downstream conveyor / device 300, and is configured to convey (deliver) Japanese ginger (object) M from the upstream conveyor / parts feeder 200 to the downstream conveyor / device 300.

[0021] Here, the Japanese ginger M to be transported is not uniform in length, thickness, weight, and shape. In addition, the timing of transferring the Japanese ginger M from the upstream conveyor / parts feeder 200 to the downstream conveyor / device 300 is not constant, and the driving speed of the downstream conveyor / device 300 is constant. For this reason, the distance between adjacent Japanese ginger M becomes wider or narrower in the downstream conveyor / device 300. If the distance between adjacent Japanese ginger M becomes too narrow, such as L1, downstream manual work or robot handling cannot keep up, and the Japanese ginger M is collected as unprocessed, resulting in losses such as re-input. If the distance between adjacent Japanese ginger M becomes too wide, such as L2, downstream manual work or robot handling can keep up, so collection due to unprocessed does not occur, but the total processing capacity of the line decreases due to waiting for work.

[0022] <Technical Concept of the Invention> The inventor recognized the above-mentioned problems as important technical challenges and conducted extensive research into a conveying device that would prevent the need for re-input (reprocessing) due to oversupply and waiting times due to undersupply, and would enable smooth conveying of the target object (ginger), resulting in the completion of this invention.

[0023] More specifically, the conveying device of the present invention has an accumulation section located at the most upstream side for accumulating a plurality of objects (ginger), and a constant-speed conveying section located at the most downstream side for conveying the plurality of objects (ginger) in a line in the conveying direction. The conveying device of the present invention also has a first variable-speed conveying section located upstream of the constant-speed conveying section for adjusting the timing of transferring the plurality of objects (ginger) to the constant-speed conveying section, and a second variable-speed conveying section located upstream of the first variable-speed conveying section and downstream of the accumulation section for adjusting the timing of transferring the plurality of objects (ginger) from the accumulation section to the first variable-speed conveying section. By providing first and second variable speed conveying sections with different roles (functions) in this manner, even if the length, thickness, weight, and shape of the objects (gingers) are not uniform and the timing of transferring the objects (gingers) from the accumulation section to the second variable speed conveying section is not constant, the constant speed conveying section can always appropriately control the spacing of each of the multiple objects (gingers) in the conveying direction.

[0024] Furthermore, the conveying device of the present invention has a first detector that detects objects in the first variable speed conveying section, and a second detector that detects objects at the entrance of the second variable speed conveying section from the storage section, and controls the speed of the first and second variable speed conveying sections based on the detection results of the first and second detectors, thereby making the intervals between the objects in the conveying direction in the constant speed conveying section closer to equal intervals. By controlling the speed of the first and second variable speed conveying sections based on the detection results of the first and second detectors, it is possible to realize even smoother conveying of the objects (ginger).

[0025] In this way, the conveying device of the present invention can control the conveying of fragile objects (e.g., ginger) that are not uniform in size or shape, and can supply them to the downstream process smoothly while maintaining a constant pitch without damage. In addition, the intervals between the conveyed objects (e.g., ginger) and the timing of delivery can be accurately controlled by using multiple variable speed conveying sections (multiple intermittent / variable speed conveyors) and multiple presence sensors located between the upstream accumulation section and the downstream constant speed conveying section.

[0026] <Specific configuration, operation, and effects of the transport device> 1A and 1B are a top view and a side view showing the conveying device 1 of this embodiment. The conveying device 1 conveys a plurality of Japanese gingers (objects) M in a conveying direction from the upstream side to the downstream side.

[0027] As shown in Figures 1A and 1B, the conveying device 1 has an accumulation section (parts feeder) 10, a constant speed conveying section (constant speed conveyor) 20, a first variable speed conveying section (first intermittent / variable speed conveyor) 30, a second variable speed conveying section (second intermittent / variable speed conveyor) 40, a first detection section (first sensor, first presence sensor) 50, a second detection section (second sensor, second presence sensor) 60, and a third detection section (third sensor, third presence sensor) 70.

[0028] The accumulation unit 10 is provided on the most upstream side of the conveying device 1 and accumulates a plurality of pieces of ginger M. The accumulation unit 10 has a guide unit 11 that guides the plurality of pieces of ginger M accumulated by the accumulation unit 10 so as to align them in a line toward the second variable speed conveying unit 40. The guide unit 11 guides the pieces of ginger M so that they do not overlap in the up-down direction (vertical direction) and so that the longitudinal direction of the pieces of ginger M is aligned in a line along the conveying direction.

[0029] The constant speed conveying section 20 is provided at the most downstream side of the conveying device 1 and conveys a plurality of gingers M lined up in the conveying direction. The length of the constant speed conveying section 20 in the conveying direction is set, for example, to a length that allows a plurality (for example, 10 to 20 pieces) of gingers M to be conveyed lined up in the conveying direction. There is a degree of freedom in the configuration of the constant speed conveying section 20, but for example, a caterpillar-type endless belt is wound around a support base and the endless belt is driven to rotate by a driving means (for example, a small unit having a power source and a stepping motor), so that a plurality of gingers M placed on the constant speed conveying section 20 can be conveyed lined up in the conveying direction.

[0030] The first variable-speed conveying section 30 is provided upstream of the constant-speed conveying section 20 and adjusts the timing of transferring a plurality of Japanese gingers M to the constant-speed conveying section 20. The length of the first variable-speed conveying section 30 in the conveying direction is set to a length that allows one (single) Japanese ginger M to be placed on it and conveyed in the conveying direction (transferred to the constant-speed conveying section 20). The first variable-speed conveying section 30 may be configured in a flexible manner, for example, by winding and supporting a caterpillar-type endless belt on a support base and rotating the endless belt with a driving means (for example, a small unit having a power source and a stepping motor), one (single) Japanese ginger M placed on the first variable-speed conveying section 30 can be transferred to the constant-speed conveying section 20. The first variable-speed conveying section 30 can instantly drive / stop / change speed.

[0031] The second variable-speed conveying section 40 is provided upstream of the first variable-speed conveying section 30 and downstream of the accumulation section 10, and adjusts the timing of transferring a plurality of Japanese ginger M from the accumulation section 10 to the first variable-speed conveying section 30. The length of the conveying direction of the second variable-speed conveying section 40 is set to a length that allows one (single) Japanese ginger M to be placed and conveyed in the conveying direction (transferred from the accumulation section 10 to the first variable-speed conveying section 30). The second variable-speed conveying section 40 may be configured in a flexible manner, for example, by winding and supporting a caterpillar-type endless belt on a support base and rotating the endless belt by a driving means (for example, a small unit having a power source and a stepping motor), one (single) Japanese ginger M placed on the second variable-speed conveying section 40 can be transferred from the accumulation section 10 to the first variable-speed conveying section 30. The second variable-speed conveying section 40 can instantly drive / stop / change speed.

[0032] The first detection unit 50 is composed of, for example, a laser displacement meter (laser displacement sensor) arranged directly above the first variable speed conveying unit 30, and detects the myoga M in the first variable speed conveying unit 30 (detects the myoga M placed on the first variable speed conveying unit 30).

[0033] The second detection unit 60 is composed of, for example, a laser displacement meter (laser displacement sensor) arranged at the entrance of the second variable speed conveying unit 40 from the storage unit 10 (the boundary between the storage unit 10 and the second variable speed conveying unit 40), and detects the Myoga M at the entrance of the second variable speed conveying unit 40 from the storage unit 10 (the boundary between the storage unit 10 and the second variable speed conveying unit 40) (detects the Myoga M being transported from the storage unit 10 to the second variable speed conveying unit 40).

[0034] The third detection unit 70 is composed of, for example, a laser displacement meter (laser displacement sensor) arranged directly above a predetermined position inside the storage unit 10, and detects the degree of accumulation (quantity) of multiple pieces of ginger M in the storage unit 10.

[0035] The first detection unit 50, the second detection unit 60, and the third detection unit 70 function as inventory sensors for controlling the operation of the first variable speed conveying unit 30 and the second variable speed conveying unit 40. By configuring the first detection unit 50, the second detection unit 60, and the third detection unit 70 from laser displacement meters (laser displacement sensors), each of a plurality of Japanese ginger M, which have individual differences in color, shape, and size, can be detected with high accuracy. The detection mechanism of the laser displacement meter (laser displacement sensor) utilizes the fact that a laser light is irradiated onto a predetermined detection target area, and the output result differs depending on whether Japanese ginger M is present in the detection target area. Note that the first detection unit 50, the second detection unit 60, and the third detection unit 70 are not limited to laser displacement meters (laser displacement sensors), and other sensors, for example, photoelectric sensors and fiber sensors, may be applied. In other words, the first detection unit 50, the second detection unit 60, and the third detection unit 70 have a degree of freedom in the form, and various design changes are possible.

[0036] The first detection unit 50, the second detection unit 60, and the third detection unit 70 may be arranged at various positions, and various design changes are possible. For example, the first detection unit 50 may be arranged diagonally above the first variable-speed conveying unit 30, instead of directly above the first variable-speed conveying unit 30. In other words, the first detection unit 50 may be arranged at a position where it can detect the Japanese ginger (object) M in the first variable-speed conveying unit 30. In addition, the entrance of the second variable-speed conveying unit 40 from the accumulation unit 10 where the second detection unit 60 is arranged (the boundary between the accumulation unit 10 and the second variable-speed conveying unit 40) may be defined as an area having a certain extent. In addition, the third detection unit 70 may be arranged diagonally above the accumulation unit 10, instead of directly above a predetermined position inside the accumulation unit 10. In other words, the third detection unit 70 may be arranged at a position where it can detect the accumulation degree (quantity) of the multiple Japanese gingers (objects) M in the accumulation unit 10.

[0037] The first detection unit 50, the second detection unit 60, and the third detection unit 70 are installed above (for example, directly above or diagonally above) the conveying line of the conveying device 1. Therefore, if necessary, guides can be attached to the sides of the conveying line of the conveying device 1 (for example, the sides of the first variable speed conveying section 30 and the second variable speed conveying section 40), thereby improving the space efficiency of the conveying line of the conveying device 1.

[0038] FIG. 2 is a block diagram showing the conveying device 1 of the present embodiment. As shown in FIG. 2, the conveying device 1 has a control unit (PLC: Programmable Logic Controller) 80 to which the detection results of the first detection unit 50, the second detection unit 60, and the third detection unit 70 are input. The control unit 80 executes drive control of the constant speed conveying unit 20, the first variable speed conveying unit 30, and the second variable speed conveying unit 40 based on the detection results of the first detection unit 50, the second detection unit 60, and the third detection unit 70. The drive control by the control unit 80 is executed by transmitting a drive instruction signal (drive control signal) to a drive driver (drive controller) corresponding to the constant speed conveying unit 20, the first variable speed conveying unit 30, and the second variable speed conveying unit 40. The drive control of the constant speed conveying unit 20 may be executed without using (based on) the detection results of the first detection unit 50, the second detection unit 60, and the third detection unit 70 (constant speed drive control may be performed at a preset drive speed).

[0039] In particular, the control unit 80 controls the speed of the first variable speed conveying unit 30 and the second variable speed conveying unit 40 based on the detection results of the first detection unit 50 and the second detection unit 60, thereby making the spacing between each of the multiple Myoga Roots M in the constant speed conveying unit 20 closer to equal spacing in the conveying direction.

[0040] That is, in a broad sense, for each of the multiple gingers M conveyed in sequence by the constant speed conveying section 20, re-input (reprocessing) due to oversupply and waiting time due to undersupply are prevented (adjacent gingers M are kept at an appropriate distance so that they are neither too far nor too close). In a narrow sense, among the multiple gingers M conveyed in sequence by the constant speed conveying section 20, the distance between adjacent gingers M is made the same or approximately the same.

[0041] The first variable-speed conveying unit 30 is controlled based on the detection timing of the first detection unit 50, and is stopped or decelerated when it becomes faster than the set discharge interval of the ginger M, and is instantly started at the timing when the discharge interval of the ginger M becomes the set interval. In addition, when a situation occurs where the discharge interval of the ginger M becomes slower than the set interval, it is instantly started and the first variable-speed conveying unit 30 is driven at high speed so as to catch up with the set discharge interval of the ginger M (it is decelerated after catching up). Here, the deceleration of the first variable-speed conveying unit 30 includes deceleration as a process until the first variable-speed conveying unit 30 is stopped. In addition, when the deceleration is defined to include making the speed zero, the deceleration may be used as a concept including stopping.

[0042] The second variable-speed conveying unit 40 is driven and controlled (speed controlled) based on the detection timing of the second detection unit 60, the timing when the first detection unit 50 detects the Japanese ginger M, which is the next downstream conveyed object, and the timing when the Japanese ginger M is discharged by the first variable-speed conveying unit 30. For example, in the case of a timing where there is a risk of interference (collision) with the Japanese ginger M placed on the first variable-speed conveying unit 30, the second variable-speed conveying unit 40 is stopped or decelerated to prevent interference (collision). In addition, if the timing of discharging the Japanese ginger M by the first variable-speed conveying unit 30 is not met, the second variable-speed conveying unit 40 is accelerated to maintain the pitch of the Japanese ginger M, which is the conveyed object. Here, the deceleration of the second variable-speed conveying unit 40 includes deceleration as a process until the second variable-speed conveying unit 40 is stopped. In addition, when the deceleration is defined to include making the speed zero, the deceleration may be used as a concept including stopping.

[0043] In this way, the roles are divided between the first variable speed conveying section 30, which controls the final pitch of the Japanese ginger M in the constant speed conveying section 20, and the second variable speed conveying section 40, which functions as a buffer to adjust (absorb) the deviation in the supply of Japanese ginger M from the storage section 10 to the first variable speed conveying section 30 (two variable speed conveying sections with different roles are installed). If the second variable speed conveying section 40 did not exist, the Japanese ginger M would collide with each other when the first variable speed conveying section 30 was stopped for pitch adjustment, and the interval between adjacent Japanese ginger M would become extremely short. Also, even if the first variable speed conveying section 30 was empty and the next Japanese ginger M was desired to be conveyed quickly, the Japanese ginger M would simply wait for the discharge of the Japanese ginger M from the upstream side.

[0044] Here, the installation positions of the first detection unit 50 and the second detection unit 60 and their technical significance will be described. The first detection unit 50 exists to check whether the Japanese ginger M is waiting in the first variable-speed conveying unit 30, or whether the Japanese ginger M is moving but is still in the first variable-speed conveying unit 30. Therefore, if the first detection unit 50 is at the beginning (entrance) of the first variable-speed conveying unit 30, there will be cases where the driving is stopped immediately after the Japanese ginger M passes through, and it will be impossible to confirm whether the Japanese ginger M is really present in the first variable-speed conveying unit 30 as a cargo presence confirmation (reliability of judgment will decrease). For this reason, it is preferable to install the first detection unit 50 at the center of the first variable-speed conveying unit 30 in the conveying direction or directly above or diagonally above the center. Furthermore, as described below, since the second variable speed conveying section 40 is speed controlled at three stages: high speed, medium speed, and low speed, it is preferable to install the second detection section 60 at the entrance of the second variable speed conveying section 40 from the accumulation section 10 (at the boundary between the accumulation section 10 and the second variable speed conveying section 40) in order to respond to the downstream situation (switching of the driving speed of the second variable speed conveying section 40).

[0045] The control unit 80 controls the speed of the supply device 90 based on the detection result of the third detection unit 70, thereby controlling the degree of accumulation of the plurality of gingers M in the accumulation unit 10, and the supply amount of the plurality of gingers M in the constant speed conveying unit 20, the first variable speed conveying unit 30, and the second variable speed conveying unit 40 (the total supply amount of the conveying device 1). Specifically, when the third detection unit 70 does not detect gingers M, the control unit 80 controls the speed of the supply device 90 (the supply speed of gingers M to the accumulation unit 10) to a normal speed, and when the third detection unit 70 detects gingers M, the control unit 80 determines that the accumulation amount of gingers M in the accumulation unit 10 is large, decelerates the speed of the supply device 90 (the supply speed of gingers M to the accumulation unit 10), and maintains the decelerated state until the third detection unit 70 does not detect gingers M, thereby adjusting the total amount of gingers M.

[0046] If the supply of ginger M from the storage unit 10 to the second variable speed conveying unit 40 becomes excessive, it becomes uncontrollable, so the total supply amount of ginger M is adjusted based on the monitoring by the third detection unit 70 (for example, the supply of ginger M on the upstream side is temporarily reduced to prevent excessive supply). The supply amount of ginger M in the upstream storage unit 10 is equal to or slightly larger than the discharge amount of ginger M from the first variable speed conveying unit 30. This is because if the supply amount of ginger M in the upstream storage unit 10 is less than the discharge amount of ginger M from the first variable speed conveying unit 30, ideal pitch control by the first variable speed conveying unit 30 and the second variable speed conveying unit 40 may not be possible. For this reason, a larger amount of Myoga M is always supplied to the accumulation section 10, while the amount of Myoga M supplied to the accumulation section 10 and ultimately to the entire conveying device 1 using the third detection section 70 is controlled to prevent overflow.

[0047] Here, the installation position of the third detection unit 70 and its technical significance will be described. The accumulation unit 10 is configured to be guided by the guide unit 11 so that the ginger M discharged to the second variable speed conveyance unit 40 forms a line. The third detection unit 70 is preferably installed at a position where it can determine an excessive supply of ginger M in the accumulation unit 10 and also determine whether the ginger M is aligned in a line in the accumulation unit 10. For example, when the third detection unit 70 detects ginger M, it can be determined that there is an excessive supply of ginger M in the accumulation unit 10 and it is not aligned in a line, and the supply device 90 can be decelerated (the deceleration is in time). That is, the third detection unit 70 may be designed to aim for a state where it does not detect ginger M as a steady state.

[0048] As shown in FIGS. 1A and 1B, when the length of the ginger (object) M in the conveyance direction is defined as X, the lengths of the first variable speed conveyance unit 30 and the second variable speed conveyance unit 40 in the conveyance direction are defined as Y, and the interval between each of the plurality of gingers (objects) M in the conveyance direction in the constant speed conveyance unit 20 is defined as Z, it is preferable to satisfy X < Y ≤ Z. By satisfying this condition, it becomes possible to more smoothly convey a plurality of gingers (objects) M. Note that the lengths of the first variable speed conveyance unit 30 and the second variable speed conveyance unit 40 in the conveyance direction do not have to be the same and may be different within the range that satisfies X < Y ≤ Z (for example, Y1, Y2). Note that Y = Z is an ideal case, which means that a plurality of gingers (objects) M flow completely at equal intervals from the accumulation unit 10 to the first variable speed conveyance unit 30, the second variable speed conveyance unit 40, and then to the constant speed conveyance unit 20, and a plurality of gingers (objects) M flow into the constant speed conveyance unit 20 without any adjustment (Y = Z is a rare case where the conveyance control of this embodiment becomes unnecessary).

[0049] FIGS. 3A and 3B are a first top view and a side view showing the operation of the conveyance device 1 of the present embodiment. FIGS. 3A and 3B relate to the role of the first variable speed conveyance unit 30, that is, the control of the handover timing (ginger interval) of the ginger M to the constant speed conveyance unit 20.

[0050] As shown in FIGS. 3A and 3B, when the interval Z1 in the conveyance direction between the Japanese ginger М that has passed through the first detection unit 50 and the most recent Japanese ginger М that has already been transferred to the constant-speed conveyance unit 20 is narrower than the interval Z in the conveyance direction between adjacent Japanese ginger М in the constant-speed conveyance unit 20 (Z1 < Z), the first variable-speed conveyance unit 30 is stopped or decelerated. Then, by starting the first variable-speed conveyance unit 30 at the timing when Z1 = Z, the pitches of adjacent Japanese ginger М in the constant-speed conveyance unit 20 are made uniform and discharged. Further, when Z1 > Z, the first variable-speed conveyance unit 30 is driven at high speed and decelerated at the timing when Z1 = Z. At timings other than when Z1 < Z, the first variable-speed conveyance unit 30 is always in operation.

[0051] As one aspect of the control unit 80, the first detection unit 50 detects Japanese ginger М in the first variable-speed conveyance unit 30, and compares the magnitude relationship between the interval Z1 in the conveyance direction between the detected Japanese ginger М and the most recent Japanese ginger М transferred to the constant-speed conveyance unit 20, and the interval Z in the conveyance direction of each of the plurality of Japanese ginger М in the constant-speed conveyance unit 20. When Z1 < Z, the first variable-speed conveyance unit 30 is stopped from being driven, and when Z1 ≥ Z, the first variable-speed conveyance unit 30 can be driven.

[0052] Incidentally, the length of the Japanese ginger М in the conveyance direction can be about 130 mm at its largest. If a plurality of Japanese ginger М are connected in series like a train, when the robot arm grips one Japanese ginger М, the Japanese ginger М immediately behind it will move. To prevent this, for example, it is preferable to ensure an interval of 10 mm or more in the conveyance direction between adjacent Japanese ginger М. However, this is the case when only considering the gripping by the robot arm. In reality, it is necessary to recognize the position of the Japanese ginger М with the vision camera in front of it. It is preferable to ensure an interval of about 200 mm between the centers and about 70 mm to 80 mm between the ends in the conveyance direction between adjacent Japanese ginger М so that a plurality of Japanese ginger М do not appear in the captured image of the vision camera.

[0053] Also, as an example, it takes approximately 0.7 seconds for the robot arm to grip one Japanese ginger М flowing through the constant-speed conveyor section 20 and place it on the tray and return. In this case, if the Japanese ginger М is supplied at a tempo faster than 0.7 seconds, processing failures will occur and it will go into the collection box. Therefore, as described above, when ensuring a distance of approximately 200 mm between the centers of adjacent Japanese ginger М in the conveying direction, it is preferable to set the driving speed of the constant-speed conveyor section 20 to approximately 280 mm / s (280 mm / s × 0.7 s ≒ 200 mm).

[0054] FIG. 4A and FIG. 4B are a second top view and a side view showing the operation of the conveying device 1 of the present embodiment. FIG. 4A and FIG. 4B relate to the role of the second variable-speed conveyor section 40, that is, the control of the transfer timing (Japanese ginger supply) of the Japanese ginger М from the accumulation section 10 to the first variable-speed conveyor section 30.

[0055] In order to wait for the transition from the state of Z1 < Z to the state of Z1 = Z (in order to adjust Z1), when the first variable-speed conveyor section 30 is stopped, if the second variable-speed conveyor section 40 continues to drive and discharges the Japanese ginger М as it is, the Japanese ginger М placed on the first variable-speed conveyor section 30 and the Japanese ginger М sent from the second variable-speed conveyor section 40 will interfere with each other (the Japanese ginger М in the subsequent stage will push out the Japanese ginger М in the previous stage). Therefore, when it seems that the Japanese ginger М will be discharged from the second variable-speed conveyor section 40 before the first variable-speed conveyor section 30 starts, the second variable-speed conveyor section 40 is decelerated to delay the timing at which the Japanese ginger М is sent from the second variable-speed conveyor section 40 to the first variable-speed conveyor section 30 (function the second variable-speed conveyor section 40 as a buffer).

[0056] In a state where the ginger M has already been discharged from the first variable-speed conveyor unit 30 (a state where the first detection unit 50 does not detect the ginger M), if the second detection unit 60 detects the ginger M, and the ginger M is discharged from the second variable-speed conveyor unit 40 via the first variable-speed conveyor unit 30 to the constant-speed conveyor unit 20 at the same speed, the pitch between the ginger M and the previous ginger M will become large (Z1>Z). Therefore, assuming that a supply delay of the ginger M has occurred, the second variable-speed conveyor unit 40 is accelerated to transfer the ginger M to the first variable-speed conveyor unit 30 and adjusted so that Z1 = Z.

[0057] To achieve the above, the first variable-speed conveyor unit 30 and the second variable-speed conveyor unit 40 are operated as follows.

[0058] For the first variable-speed conveyor unit 30, a driving operation is performed when the timing is such that Z1≧Z (the driving speed is 280 mm / s as an example), and the driving is stopped when the timing is such that Z1<Z.

[0059] For the second variable-speed conveyor unit 40, high-speed driving is performed when the first detection unit 50 does not detect the ginger and the second detection unit 60 detects the ginger (the driving speed is 383 mm / s as an example). Also, when the second detection unit 60 does not detect the ginger, or when the first detection unit 50 detects the ginger and the second detection unit 60 detects the ginger, it is determined whether the first variable-speed conveyor unit 30 is driving or stopped. When the first variable-speed conveyor unit 30 is driving, the second variable-speed conveyor unit 40 is driven at medium speed (the driving speed is 280 mm / s as an example). When the first variable-speed conveyor unit 30 is stopped, the second variable-speed conveyor unit 40 is driven at low speed (the driving speed is 133 mm / s as an example).

[0060] Thus, as one aspect of the control unit 80, when the second detection unit 60 detects ginger M at the entrance of the second variable-speed conveying unit 40 from the accumulation unit 10 and the first detection unit 50 does not detect ginger M at the first variable-speed conveying unit 30, the second variable-speed conveying unit 40 is driven at high speed. When the second detection unit 60 does not detect ginger M at the entrance of the second variable-speed conveying unit 40 from the accumulation unit 10, or when the second detection unit 60 detects ginger M at the entrance of the second variable-speed conveying unit 40 from the accumulation unit 10 and the first detection unit 50 detects ginger M at the first variable-speed conveying unit 30, it is determined whether the first variable-speed conveying unit 30 is stopped. If it is stopped, the second variable-speed conveying unit 40 is driven at a low speed, and if it is not stopped, the second variable-speed conveying unit 40 is driven at a medium speed.

[0061] 5A and 5B are a third top view and a side view showing the operation of the conveying device 1 of this embodiment. Fig. 6A and Fig. 6B are a fourth top view and a side view showing the operation of the conveying device 1 of this embodiment. Fig. 5A, Fig. 5B and Fig. 6A, Fig. 6B are related to the adjustment of the supply amount of Myoga M to the entire conveying device 1.

[0062] 5A, 5B, 6A, and 6B depict a supply device 90 for supplying a plurality (a large number) of gingers M to the accumulation section 10. Here, for convenience, the supply device 90 is not regarded as a component of the conveying device 1, and in that sense, the accumulation section 10 is the "most upstream" component of the conveying device 1. Of course, it is also possible to regard the supply device 90 as a component of the conveying device 1, in which case the accumulation section 10 is the "second most upstream" component of the conveying device 1. In other words, the accumulation section 10 being disposed on the "most upstream side" of the conveying device 1 is an expression for specifying the relative positional relationship between the constant speed conveying section 20, the first variable speed conveying section 30, and the second variable speed conveying section 40, and does not prevent the presence of other components such as the supply device 90 on the upstream side of the accumulation section 10.

[0063] As shown in FIGS. 5A and 5B, during normal operation, since the accumulation amount of ginger M in the accumulation unit 10 is appropriately maintained (not over-supplied), ginger M is not located at the detection position by the third detection unit 70 (for example, directly below or diagonally below the third detection unit 70). In this case, the supply device 90 is operating at a normal speed. However, due to setting the supply amount of ginger M from the supply device 90 to be larger than the discharge amount of ginger M from the first variable-speed conveyor unit 30, gradually, a ginger accumulation occurs in the accumulation unit 10, and eventually, ginger M is located at the detection position by the third detection unit 70 (for example, directly below or diagonally below the third detection unit 70) and is detected. This is the state shown in FIGS. 6A and 6B. If the supply device 90 is operated as it is in this state, the accumulation unit 10 will overflow with ginger M. Therefore, until ginger M is no longer detected by the third detection unit 70, the supply device 90 is decelerated to adjust the overall flow rate of ginger M. By repeating the normal operation and deceleration operation of the supply device 90, the conveyor device 1 alternates between the states shown in FIGS. 5A and 5B and the states shown in FIGS. 6A and 6B.

[0064] FIG. 7 is a first flowchart showing the operation of the conveyor device 1 of the present embodiment. FIG. 7 relates to the drive control of the first variable-speed conveyor unit 30.

[0065] In step ST1, it is determined whether ginger is detected by the first detection unit 50. If ginger is detected by the first detection unit 50 (ST1: Yes), the process proceeds to step ST2. If ginger is not detected by the first detection unit 50 (ST1: No), the process proceeds to step ST4.

[0066] In step ST2, it is determined whether the ginger feeding pitch is NG, that is, which of the above Z1 < Z and Z1 ≧ Z is the case. If the ginger feeding pitch is NG (Z1 < Z) (ST2: Yes), the process proceeds to step ST3. If the ginger feeding pitch is not NG (Z1 ≧ Z) (ST2: No), the process proceeds to step ST4.

[0067] In step ST3, the first variable speed conveying unit 30 is stopped, and in step ST4, while the first variable speed conveying unit 30 is driven, the process returns to step ST1 to determine whether or not the first detection unit 50 has detected ginger.

[0068] 8 is a second flowchart showing the operation of the conveying device 1 of this embodiment.

[0069] In step ST11, it is determined whether or not ginger is detected by the second detection unit 60. If ginger is detected by the second detection unit 60 (ST11: Yes), the process proceeds to step ST12, and if ginger is not detected by the second detection unit 60 (ST11: No), the process proceeds to step ST13.

[0070] In step ST12, it is determined whether or not ginger is detected by the first detection unit 50. If ginger is detected by the first detection unit 50 (ST12: Yes), the process proceeds to step ST13, and if ginger is not detected by the first detection unit 50 (ST12: No), the process proceeds to step ST16.

[0071] In step ST13, it is determined whether or not the first variable speed conveying unit 30 is stopped. If the first variable speed conveying unit 30 is stopped (ST13: Yes), the process proceeds to step ST14. If the first variable speed conveying unit 30 is not stopped (ST13: No), the process proceeds to step ST15.

[0072] In step ST14, the second variable speed conveying unit 40 is operated at a low speed, in step ST15, the second variable speed conveying unit 40 is operated at a medium speed, and in step ST16, while the second variable speed conveying unit 40 is operated at a high speed, the process returns to step ST11 to determine whether or not ginger has been detected by the second detection unit 60.

[0073] As shown in Figures 9A, 9B, and 9C, the conveying device 1 may arrange multiple pieces of ginger M in the conveying direction in the first variable speed conveying section 30 and the second variable speed conveying section 40, and may have a guide section that prevents the multiple pieces of ginger M from falling off from the first variable speed conveying section 30 and the second variable speed conveying section 40.

[0074] If the first variable speed conveying unit 30 and the second variable speed conveying unit 40 are installed horizontally, an object (conveying object) with a rounded shape such as ginger M may roll and fall off the first variable speed conveying unit 30 and the second variable speed conveying unit 40. For this reason, a guide to prevent falling off may be attached to one end or both ends of the side direction of the first variable speed conveying unit 30 and the second variable speed conveying unit 40, or the first variable speed conveying unit 30 and the second variable speed conveying unit 40 may be arranged in a V-shape to convey the ginger M at the bottom of the V-shape, or other such measures may be applied as a "guide unit."

[0075] In FIG. 9A, the first variable speed conveying section 30 and the second variable speed conveying section 40 are arranged at an angle, and a fall prevention guide (guide section) 100 is provided at one end of the first variable speed conveying section 30 and the second variable speed conveying section 40 in the side direction. The first variable speed conveying section 30, the second variable speed conveying section 40, and the fall prevention guide 100 are arranged in a V-shape, and the Japanese ginger M is conveyed in a form in which a line of pass lines is defined at the bottom. In the embodiment of FIG. 9A, only one fall prevention guide (guide section) 100 is required, so that it is possible to reduce costs, reduce the number of parts, and improve layout efficiency. In the embodiment of FIG. 9A, it can be said that the fall prevention guide (guide section) 100, the first variable speed conveying section 30, and the second variable speed conveying section 40 cooperate as a fall prevention guide (guide section). In addition, the fall-off prevention guide (guide section) 100, the first variable speed conveying section 30, and the second variable speed conveying section 40 can define a path line of the ginger M to be conveyed without shifting it. In addition, the fall-off prevention guide (guide section) 100, the first variable speed conveying section 30, and the second variable speed conveying section 40 can improve the reliability of preventing the ginger M to be conveyed from falling off.

[0076] In FIG. 9B, the first variable speed conveying section 30 and the second variable speed conveying section 40 are arranged horizontally, but a pair of fall-off prevention guides (guide sections) 110 are provided at both ends in the lateral direction. In this case, the path line of the Japanese ginger M may be slightly shifted between the pair of fall-off prevention guides 110, but it is possible to prevent the Japanese ginger M from falling off the first variable speed conveying section 30 and the second variable speed conveying section 40. In the embodiment of FIG. 9B, a pair of fall-off prevention guides (guide sections) 110 are provided on both sides (both ends in the lateral direction) of the first variable speed conveying section 30 and the second variable speed conveying section 40, so that it is possible to improve the reliability of preventing the Japanese ginger M, which is the conveying target, from falling off.

[0077] In FIG. 9C, the first variable speed conveying section 30 and the second variable speed conveying section 40 are each divided into two parts, the first variable speed conveying section 30A, 30B and the second variable speed conveying section 40A, 40B, which are arranged in a V-shape, and the Japanese ginger M is conveyed with a line of pass lines defined at the bottom. In this case, the divided first variable speed conveying section 30A, 30B and the second variable speed conveying section 40A, 40B constitute a "guide section". In the embodiment of FIG. 9C, the divided first variable speed conveying section 30A, 30B and the second variable speed conveying section 40A, 40B (guide section) can define a line of pass lines of the Japanese ginger M to be conveyed without shifting them. In addition, the divided first variable speed conveying sections 30A, 30B and the second variable speed conveying sections 40A, 40B (guide sections) can improve the reliability of preventing the ginger M, which is the conveying object, from falling off.

[0078] In the above embodiment, a case has been described in which two variable speed conveying sections, i.e., the first variable speed conveying section 30 and the second variable speed conveying section 40, are provided between the accumulation section 10 and the constant speed conveying section 20. However, the number of variable speed conveying sections provided between the accumulation section 10 and the constant speed conveying section 20 may be three or more. More specifically, by providing a plurality of first variable speed conveying sections 30 and / or a plurality of second variable speed conveying sections 40, more precise pitch control may be possible. In this case, the first variable speed conveying section 30 may be divided into a 1-1 variable speed conveying section 30-1, ..., a 1-N variable speed conveying section 30-N (N is a natural number greater than or equal to 2) driven at different speeds, and / or the second variable speed conveying section 40 may be divided into a 2-1 variable speed conveying section 40-1, ..., a 2-M variable speed conveying section 40-M (M is a natural number greater than or equal to 2) driven at different speeds.

[0079] In this way, the conveying device of this embodiment is a conveying device that conveys multiple objects in a conveying direction from the upstream side to the downstream side, and includes an accumulation unit provided at the most upstream side to accumulate the multiple objects, a constant speed conveying unit provided at the most downstream side to convey the multiple objects in a line in the conveying direction, a first variable speed conveying unit provided upstream of the constant speed conveying unit to adjust the timing of transferring the multiple objects to the constant speed conveying unit, and a second variable speed conveying unit provided upstream of the first variable speed conveying unit and downstream of the accumulation unit to adjust the timing of transferring the multiple objects from the accumulation unit to the first variable speed conveying unit. This makes it possible to realize smooth conveying of the objects.

[0080] The conveying device of this embodiment is provided with first and second variable speed conveying sections with respective functions (roles) between an upstream process (e.g., an accumulation section) and a downstream process (e.g., a constant speed conveying section) as a mechanism for adjusting the timing of conveyed objects supplied at random timing from an upstream process (e.g., an accumulation section) and discharging the conveyed objects at fixed intervals in a downstream process (e.g., a constant speed conveying section). The first variable speed conveying section has the function (role) of adjusting the timing of transferring multiple conveyed objects to a downstream process (e.g., a constant speed conveying section), and the second variable speed conveying section has the function (role) of adjusting the timing of transferring multiple conveyed objects from an upstream process (e.g., an accumulation section) to the first variable speed conveying section.

[0081] Conventional conveying devices including the one described in Patent Document 1 have technical problems such as applying extra force to the object because it is pinched by the guide during conveying, changing the conveying pitch when the size of the conveyed object changes, causing waiting time by stopping the downstream process, and causing objects to be missed because the conveying pitch is too narrow. The conveying device of this embodiment solves these technical problems and can realize smooth conveying of objects.

[0082] According to the conveying device of this embodiment, the conveying timing is controlled without using a shutter or stopper for restricting the conveying, so that scratches due to contact can be prevented. In addition, even if the size of the target object is not constant, the discharge interval can be controlled to a constant pitch. Furthermore, it is possible to continue discharging downstream at a constant pitch without stopping / waiting the downstream conveying system or device. Furthermore, since it is a pre-adjustment (flexible adjustment between the most upstream accumulation section and the most downstream constant speed conveying section) rather than a post-adjustment (forceful adjustment at the most downstream), an object that is not pitch-controlled is not discharged. As described above, it is possible to prevent oversupply or undersupply for manual or robotic work in the downstream process, and it is possible to build an efficient conveying line.

[0083] The present invention is not limited to the above-mentioned embodiment, and various modifications can be made in the implementation stage without departing from the gist of the invention. In addition, the embodiments may be implemented in appropriate combination, and in that case, the combined effect can be obtained. Furthermore, the above-mentioned embodiment includes various inventions, and various inventions can be extracted by combinations selected from the multiple components disclosed. For example, if the problem can be solved and the effect can be obtained even if some components are deleted from all the components shown in the embodiment, the configuration from which the components are deleted can be extracted as an invention. [Explanation of symbols]

[0084] 1. Transport device 10 Accumulation section (parts feeder) 11 Information Department 20 Constant speed transport section (constant speed conveyor) 30 First variable speed conveying section (first intermittent / variable speed conveyor) 30A 30B First variable speed conveying section (first intermittent / variable speed conveyor, guide section) 40 Second variable speed conveying section (second intermittent / variable speed conveyor) 40A 40B Second variable speed conveying section (second intermittent / variable speed conveyor, guide section) 50 first detection unit (first sensor, first presence sensor) 60 second detection unit (second sensor, second presence sensor) 70 third detection unit (third sensor, third presence sensor) 80 Control unit (PLC: Programmable Logic Controller) 90 Feeding device 100 Fall prevention guide (guide part) 110 Fall prevention guide (guide part) M Myoga (target object)

Claims

1. A conveying device that conveys a plurality of objects in a conveying direction from an upstream side to a downstream side, an accumulation unit provided on the most upstream side for accumulating the plurality of objects; a constant speed conveying unit provided at the most downstream side for conveying the plurality of objects in a line in the conveying direction; a first variable speed transport unit provided upstream of the constant speed transport unit and configured to adjust a timing for transferring the plurality of objects to the constant speed transport unit; a second variable speed transport unit provided upstream of the first variable speed transport unit and downstream of the accumulation unit, the second variable speed transport unit adjusting a timing for transferring the plurality of objects from the accumulation unit to the first variable speed transport unit; A conveying device comprising:

2. a first detection unit that detects an object in the first variable speed transport unit; a second detection unit that detects an object at an entrance of the second variable speed transport unit from the accumulation unit; a control unit that controls speeds of the first and second variable-speed conveying units based on detection results of the first and second detection units, thereby making intervals between each of the plurality of objects in the constant-speed conveying unit closer to equal intervals in the conveying direction; 2. The conveying device according to claim 1, further comprising:

3. the control unit detects the object in the first variable speed transport unit by the first detection unit, compares a distance Z1 in the transport direction between the detected object and the nearest object handed over to the constant speed transport unit with a distance Z in the transport direction between each of the plurality of objects in the constant speed transport unit, and stops driving the first variable speed transport unit when Z1<Z, and drives the first variable speed transport unit when Z1≧Z.

3. The conveying device according to claim 2.

4. The control unit is when the second detection unit detects the object at an entrance of the second variable speed transport unit from the storage unit and the first detection unit does not detect the object at the first variable speed transport unit, driving the second variable speed transport unit at a high speed; when the second detection unit does not detect the object at the entrance of the second variable speed transport unit from the storage unit, or when the second detection unit detects the object at the entrance of the second variable speed transport unit from the storage unit and the first detection unit detects the object at the first variable speed transport unit, it is determined whether or not the first variable speed transport unit is stopped, and if the first variable speed transport unit is stopped, the second variable speed transport unit is driven at a low speed, and if the first variable speed transport unit is not stopped, the second variable speed transport unit is driven at a medium speed.

3. The conveying device according to claim 2.

5. a third detection unit that detects an accumulation level of the plurality of objects in the accumulation unit; the control unit controls a supply speed of the plurality of objects to the storage unit based on a detection result of the third detection unit, thereby controlling a degree of accumulation of the plurality of objects in the storage unit and a supply amount of the plurality of objects in the constant speed transport unit and the first and second variable speed transport units.

3. The conveying device according to claim 2.

6. When the length of the object in the conveying direction is defined as X, the length of the first and second variable speed conveying units in the conveying direction is defined as Y, and the interval between each of the plurality of objects in the constant speed conveying unit in the conveying direction is defined as Z, X<Y≦Z is satisfied.

3. The conveying device according to claim 1 or 2.

7. a guide section that arranges the plurality of objects in the conveying direction in the first and second variable speed conveying sections and prevents the plurality of objects from falling off the first and second variable speed conveying sections, 3. The conveying device according to claim 1 or 2.

8. The first variable speed conveying section is divided into a 1-1 variable speed conveying section, ..., a 1-N variable speed conveying section (N is a natural number of 2 or more) driven at different speeds, and / or The second variable speed conveying section is divided into a 2-1 variable speed conveying section, ..., a 2-M variable speed conveying section (M is a natural number of 2 or more) driven at different speeds.

3. The conveying device according to claim 1 or 2.

9. The plurality of objects are fruits and vegetables including at least one of ginger, shishito pepper, and okra.

3. The conveying device according to claim 1 or 2.

Images