Handling system

Abstract

Provided is a conveying system capable of increasing the throughput of the entire system. In a conveying system (1) in which a plurality of sliders (5) circulate in a circulation path (6) including a forward path (2) and a return path (3), a transposition shaft (7) is provided that moves three transposition modules (7a, 7b, 7c) to switch between a normal conveying position and a workpiece loading position for a workpiece processing device. In the normal conveying position, a first combined transposition module (7a, 7b) selected from two of the three transposition modules (7a, 7b, 7c) is connected to the forward path module (2a) and the return path module (3a). In the workpiece loading position, a second combined transposition module (7b, 7c) selected from two of the three transposition modules (7a, 7b, 7c) is connected to the forward path module (2a) and the return path module (3a).

Description

Technical Field

[0001] The present invention relates to a transport system in which multiple sliding elements circulate in a loop including a destination path and a return path. Background Technology

[0002] A transport system with multiple sliding members circulating in a loop including a forward path and a return path has been developed (see Patent Document 1). The forward path includes a forward path module. The return path includes a return path module. Multiple workpiece handling devices for processing workpieces are arranged along the forward path. When a sliding member moves to the position of a workpiece handling device, the workpiece handling device processes the workpiece mounted on the sliding member. For example, when the sliding member moves to the position of workpiece handling device A, workpiece handling device A performs machining on the workpiece mounted on the sliding member. Next, when the sliding member moves to the position of workpiece handling device B, workpiece handling device B performs thread tightening on the workpiece mounted on the sliding member. Similarly, workpiece handling device C applies adhesive to the workpiece, and workpiece handling device D inspects the workpiece. When the sliding member moves to the end of the forward path, the workpiece is discharged from the transport system. The sliding member returns to the beginning of the forward path via the return path, and circulates again, carrying a workpiece.

[0003] In the circulation methods of the slider, there are elliptical and circulating axis methods (also known as traverser methods). In the elliptical method, semi-circular modules are connected to the ends of the outgoing and returning paths. The slider moves along these semi-circular modules while its orientation is reversed. In the circulating axis method, a straight circulating axis is provided at the ends of the outgoing and returning paths. The circulating axis receives the slider from the outgoing path, moves it along the axial direction of the circulating axis, and then transfers it to the returning path. The circulating axis method can involve both horizontal and vertical circulation of the slider.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2021-178721 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, in conventional material handling systems, when the processing of a workpiece by a certain workpiece handling device (e.g., workpiece handling device A) takes a long time, that workpiece handling device (e.g., workpiece handling device A) becomes a bottleneck, and there is a problem that the overall processing capacity of the system cannot be increased.

[0009] In conventional material handling systems, a transposition axis is positioned before the workpiece handling unit. When the sliding component arrives at the workpiece handling unit, the transposition axis can be used to insert the sliding component into the unit. In other words, by using the transposition axis to move the path module carrying the sliding component from its normal handling position to the workpiece insertion position into the workpiece handling unit, the sliding component can be idled before the workpiece handling unit, thus shortening the workpiece handling unit's downtime. Therefore, the overall throughput of the system can be increased.

[0010] However, when the routing module is switched from its normal handling position to the workpiece input position using the transposition axis, the routing is interrupted, preventing the sliding parts from circulating quickly. This reduces the overall throughput of the system.

[0011] The present invention was made in view of the above-mentioned problems, and its object is to provide a handling system that can increase the overall processing capacity of the system.

[0012] Solution for solving the problem

[0013] To address the aforementioned issues, a first solution of the present invention is a conveying system in which multiple sliding members circulate in a loop including a outgoing path module and a return path module. The conveying system includes a shifting shaft that moves at least three shifting modules to switch between a normal conveying position and a workpiece placement position for a workpiece handling device. In the normal conveying position, a first combination of shifting modules, selecting two from the at least three shifting modules, is connected to the outgoing path module and the return path module. In the workpiece placement position, a second combination of shifting modules, selecting two from the at least three shifting modules, is connected to the outgoing path module and the return path module.

[0014] A second aspect of the present invention is a transport system in which multiple sliders circulate in a loop including a outgoing path module and a return path module. The transport system includes a transposition axis that moves at least the outgoing path transposition module and the return path transposition module to switch at least to a normal transport position and a shortcut position. In the normal transport position, the outgoing path transposition module and the return path transposition module are connected to the outgoing path module and the return path module. In the shortcut position, the outgoing path transposition module equipped with sliders is connected to the return path module, and the sliders travel a shortcut in the loop.

[0015] Invention Effects

[0016] According to the first aspect of the present invention, regardless of the normal transport position of the transposition module equipped with the slider and the workpiece input position, the outgoing and returning paths are in a state where the slider can pass through. Therefore, the slider can circulate more quickly, increasing the overall throughput of the system.

[0017] According to a second aspect of the invention, for example, when only workpiece processing device A needs to process, the slider can be moved to the position of workpiece processing device A, but not to the positions of workpiece processing devices B and C, and can return to the beginning of the path. Therefore, the overall processing capacity of the system can be increased. Attached Figure Description

[0018] Figure 1 This is a top view of the transport system according to the first embodiment of the present invention.

[0019] Figure 2 This is a top view of the transposition axis in this embodiment. Figure 2 (a) is the usual transport location. Figure 2 (b) is the workpiece placement position. Figure 2 (c) is the usual transport location.

[0020] Figure 3 This is a top view (shortcut position) of the transposition axis in this embodiment.

[0021] Figure 4 This is a perspective view of the outgoing path module in this embodiment.

[0022] Figure 5 This is a perspective view of the slider in this embodiment.

[0023] Figure 6 This is a top view of the transport system according to the second embodiment of the present invention.

[0024] Figure 7 This is a top view of the transposition axis of the transport system according to the second embodiment of the present invention. Figure 7 (a) is the usual transport location. Figure 7 (b) is the shortcut location. Detailed Implementation

[0025] Hereinafter, a transport system according to an embodiment of the present invention will be described based on the accompanying drawings. However, the transport system of the present invention can be embodied in various ways and is not limited to the embodiments described in this specification. This embodiment is provided so that those skilled in the art can fully understand the intent of the invention by making the specification sufficiently disclosed.

[0026] (First Implementation)

[0027] Figure 1 A top view of the conveying system 1 according to a first embodiment of the present invention is shown. Reference numeral 2 indicates the outgoing path, reference numeral 3 indicates the returning path, and reference numerals 8 and 9 indicate circulation shafts disposed at the ends of the outgoing path 2 and the returning path 3. The outgoing path 2, the returning path 3, and the circulation shafts 8 and 9 constitute a circulation path 6. Multiple sliding members 5 circulate in the circulation path 6. A workpiece W is mounted on each of the sliding members 5.

[0028] Path 2 is a straight line and has multiple interconnected path modules 2a. Path 2 causes the slider 5 to move from the starting end P1 to the right in the figure. Along path 2, workpiece processing devices such as workpiece processing device A, workpiece processing device B, and workpiece processing device C are arranged to process the workpiece W (machining, thread tightening, adhesive application, inspection, etc.).

[0029] A shifting shaft 7 is positioned before workpiece processing devices A, B, and C. When the sliding member 5 reaches the position of workpiece processing devices A, B, and C, the shifting shaft 7 moves the three shifting modules 7a, 7b, and 7c mounted on it toward workpiece processing devices A, B, and C, feeding the workpiece W from shifting module 7a into workpiece processing devices A, B, and C (refer to workpiece processing device C). Workpiece processing devices A, B, and C perform machining or other processing on the fed workpiece W. It should be noted that workpiece W can also be supplied from the sliding member 5 to workpiece processing devices A, B, and C using a supply device (not shown), or workpiece processing devices A, B, and C can directly process the workpiece W on the sliding member 5.

[0030] After workpiece W is processed by workpiece handling devices A, B, and C, the transfer module 7a, equipped with the slider 5, returns to path 2 under the action of the transfer shaft 7. Then, path 2 moves the slider 5 to the right in the diagram to the terminal P2 of path 2. At terminal P2, a transfer robot or similar device removes workpiece W from the slider 5, and workpiece W is discharged from the transport system 1.

[0031] The circulating axis 8 includes a shifting module 8a mounted on the worktable 10. The circulating axis 8 moves the slider 5 received from the outgoing path 2 in the upward direction of the figure to the starting end P3 of the return path 3. The circulating axis 8 includes a drive mechanism that moves the shifting module 8a along the circulating axis direction. The drive mechanism is a motor, ball screw, linear motor, etc.

[0032] Return path 3 is a straight line and has multiple interconnected return path modules 3a. Return path 3 moves the slider 5 located at the starting end P3 in the opposite direction to the outgoing path 2 (leftward direction in the figure) to the end P4 of return path 3. Circulation axis 9 has a transfer module 9a mounted on the worktable 11. Circulation axis 9 has a drive mechanism that moves the transfer module 9a along the circulation axis direction. The drive mechanism is a motor, ball screw, linear motor, etc. Circulation axis 9 moves the slider 5 received from return path 3 in the downward direction in the figure to the starting end P1 of outgoing path 2. At the starting end P1, a transfer robot or the like loads the workpiece W onto the slider 5 again.

[0033] The positions of the sliders 5 moving along the loop path 6 are controlled by a centralized controller, such as a general-purpose PLC (Programmable Logic Controller) not shown. The outgoing loop module 2a, the return loop module 3a, the transposition modules 7a, 7b, and 7c of the transposition axis 7, and the transposition modules 8a and 9a of the loop axes 8 and 9 are equipped with module controllers capable of communicating with the centralized controller. The module controllers control the power supplied to multiple coils of the module by moving the sliders 5 according to the instructions of the centralized controller. The structure of the module is described later.

[0034] like Figure 2 As shown, the transposition axis 7 has three transposition modules 7a, 7b, and 7c mounted on the worktable 12. The three transposition modules 7a, 7b, and 7c are linear and parallel to each other. The transposition axis 7 has a drive mechanism that moves the three transposition modules 7a, 7b, and 7c along the transposition axis direction (a direction orthogonal to the transposition modules 7a, 7b, and 7c). The drive mechanism is a motor, ball screw, linear motor, etc.

[0035] The transposition axis 7 moves the three transposition modules 7a, 7b, and 7c, while from... Figure 2 The usual handling position shown in (a) is switched to Figure 2 The workpiece placement position is shown in (b). Therefore, as... Figure 2 As shown in (b), the slider 5 can be put on standby before the workpiece processing device A, thus shortening the downtime of the workpiece processing device A. Furthermore, if the processing time of the workpiece processing device A is long, for example, two workpiece processing devices A can be arranged (to... Figure 1 The workpiece processing device B shown is replaced with workpiece processing device A), and the subsequent sliding member 5 catches up with the sliding member 5 already put into workpiece processing device A, so that two workpieces W are processed by two workpiece processing devices A.

[0036] After workpiece W is processed by workpiece processing device A, the shifting module 7a, equipped with sliding member 5, returns again under the action of shifting shaft 7. Figure 2 The typical transport location is shown in (c).

[0037] exist Figure 2 As shown in (a) and (c), in the typical transport position, a first combination of transposition modules 7a and 7b, selecting two from the three transposition modules 7a, 7b, and 7c, is connected to the outgoing route module 2a and the return route module 3a. Additionally, in Figure 2As shown in (b), the workpiece input position is connected to the second combination of transposition modules 7b and 7c, which select two of the three transposition modules 7a, 7b, and 7c, and the outgoing route module 2a and the returning route module 3a. Thus, regardless of the normal transport positions of the three transposition modules 7a, 7b, and 7c or the workpiece input position, the outgoing route 2 and the returning route 3 are in a state where the sliding member 5 can pass. Therefore, the sliding member 5 can return to the starting end P1 of the outgoing route 2 more quickly, thereby increasing the overall throughput of the system.

[0038] Of the three transposition modules 7a, 7b, and 7c, the bottom one is the outgoing route transposition module 7a, the top one is the returning route transposition module 7c, and the center one is the outgoing and returning route transposition module 7b. Figure 2 As shown in (a) and (c), the normal transport position, the outbound and return route combined transposition module 7b becomes the return route 3. Figure 2 As shown in (b), the workpiece input position is such that the outgoing and return path combined transposition module 7b becomes the outgoing path 2. More than four transposition modules can also be mounted on the transposition axis 7, but by setting the center as the outgoing and return path combined transposition module 7b, the transposition axis 7 can be miniaturized.

[0039] Figure 3 An example is shown where the three transposition modules 7a, 7b, and 7c are switched to shortcut positions. In the shortcut position, the outgoing transposition module 7a, equipped with the slider 5, is connected to the return module 3a. Thus, for example, when only workpiece processing device A is required, after the slider 5 is moved to the position of workpiece processing device A, it can take a shortcut on the loop path 6 without moving to the positions of workpiece processing devices B and C. Therefore, the overall processing capacity of the system can be increased.

[0040] Figure 4 A perspective view of the outgoing path module 2a is shown. The structures of the return path module 3a, the transposition modules 7a, 7b, and 7c of the transposition axis 7, and the transposition modules 8a and 9a of the circulating axes 8 and 9 are also largely the same as those of the outgoing path module 2a. The outgoing path module 2a has multiple coils 21 that form the stator 20 of a linear motor. Power is supplied to the multiple coils 21 using a power converter such as a PWM inverter. The power converter is controlled by the module controller 24.

[0041] The path module 2a has a linear guide 25 that smoothly guides the linear movement of the slider 5. The track 26 of the linear guide 25 is mounted on the base 28 of the path module 2a. The carrier 27 of the linear guide 25 is mounted on the slider 5. Figure 5 As shown, the slider 5 has a magnet 29 that acts as the mover of a linear motor. The magnet 29 works in conjunction with multiple coils 21 of the path module 2a to generate thrust. The workpiece W is mounted on the slider 5 via a tray (not shown).

[0042] (Second Implementation)

[0043] Figure 6 This is a top view of the transport system 31 according to the second embodiment of the present invention. The structures of the outgoing path 2, the return path 3, the circulating shafts 8 and 9, and the sliding member 5 of the transport system 31 of the second embodiment are the same as those of the transport system 1 of the first embodiment, therefore the same reference numerals are used and their descriptions are omitted.

[0044] In the transport system 31 of the second embodiment, two transposition modules 33a and 33b are mounted on the transposition shaft 32. The two transposition modules 33a and 33b are the outbound transposition module 33a and the return transposition module 33b.

[0045] like Figure 7 As shown, the transposition axis 32 switches the path transposition module 33a equipped with the slider 5 to... Figure 7 The typical transport location shown in (a) Figure 7 The shortcut position is shown in (b). It should be noted that, although not shown in the figure, the transposition axis 32 can also switch the outgoing transposition module 33a to the workpiece input position of the workpiece processing device A~C.

[0046] exist Figure 7 As shown in (a), in the typical transport position, the outgoing transposition module 33a and the returning transposition module 33b of the transposition axis 32 are connected to the outgoing module 2a and the returning module 3a. Figure 7 The shortcut position shown in (b) is connected to the outgoing route transposition module 33a and the return route module 3a, which are equipped with the processed workpiece W.

[0047] According to the transport system 31 of the second embodiment, for example, when only the workpiece handling device A needs to be processed, the slider 5 can be moved to the position of the workpiece handling device A, but can not be moved to the positions of the workpiece handling devices B and C, and can take a shortcut in the circulation path 6. Therefore, the overall throughput of the system can be increased.

[0048] It should be noted that the present invention is not limited to the embodiments described above, and can be embodied in other embodiments without changing the spirit of the invention. For example, in the above embodiments, the sliding member uses a circulating axis method for circulation, but an elliptical method can also be used. In addition, in the above embodiments, the sliding member circulates horizontally in the circulation path, but it can also circulate vertically.

[0049] This specification is based on Japanese Patent Application No. 2024-047698, filed on March 25, 2024. All of its contents are contained herein.

[0050] Explanation of reference numerals in the attached figures

[0051] 1: Transport system; 2: Outbound path; 2a: Outbound path module; 3: Return path; 3a: Return path module; 5: Sliding component; 6: Circulation path; 7: Transposition axis; 7a, 7b, 7c: 3 transposition modules; 7a, 7b: First combined transposition module; 7b, 7c: Second combined transposition module; 7a: Outbound path transposition module; 7b: Outbound and return path combined transposition module; 7c: Return path transposition module; 21: Coil; 29: Magnet; 31: Transport system; 32: Transposition axis; 33a: Outbound path transposition module; 33b: Return path transposition module; A~D: Workpiece processing device; W: Workpiece.

Claims

1. A conveying system in which a plurality of sliders circulate in a loop including a outgoing path module and a return path module, wherein, The conveying system includes a transposition axis that moves at least three transposition modules to switch between a normal conveying position and a workpiece input position to the workpiece processing device. At the usual transport position, a first combination of two transposition modules selected from the at least three transposition modules is connected to the outgoing route module and the returning route module. At the workpiece input position, a second combination of two transposition modules selected from the at least three transposition modules is connected to the outgoing route module and the returning route module.

2. The handling system according to claim 1, characterized in that, The at least three transposition modules consist of a forward transposition module, a return transposition module, and a forward and return transposition module that is used for both forward and return paths between the forward transposition module and the return transposition module.

3. The handling system according to claim 2, characterized in that, The transposition axis moves the three transposition modules to switch to a shortcut position. At the shortcut location, the outgoing route switching module equipped with a slider is connected to the returning route module, and the slider takes the shortcut on the loop path.

4. A conveying system in which a plurality of sliders circulate in a loop including a outgoing path module and a return path module, wherein, The transport system includes a transposition axis that moves at least the outbound transposition module and the return transposition module to switch at least to the normal transport position and the shortcut position. At the usual transport position, the outbound transposition module and the return transposition module are connected to the outbound module and the return module. At the shortcut location, the outgoing route switching module equipped with a slider is connected to the returning route module, and the slider takes the shortcut on the loop path.

5. The handling system according to claim 1 or 4, characterized in that, The transposition module has multiple energized coils. The slider has a magnet that works in conjunction with the plurality of coils to generate thrust.

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