Article transfer device

Abstract

Article transfer device (100) that transfers articles, wherein the article transfer device (100) comprises: a guide rail (110) arranged along a predetermined path; primary-side stators (120) arranged along the predetermined path; a first transport carriage (210) and a second transport carriage (220), each comprising a secondary-side movable element (211) and transporting an article by traveling on the guide rail (110) by the secondary-side movable element (211) receiving a magnetic effect from the primary-side stators (120); a power source (130) arranged on the predetermined path; and a controller (300) that controls the operation of a floor-level primary-side linear motor system, wherein the floor-level primary-side linear motor system comprises the primary-side stators (120) and the secondary-side moving element (211), wherein the first transport carriage (210) and the second transport carriage (220) each are caused by the ground-level primary-side linear motor system to move in such a way that they can be individually stopped or change their travel speed, and Furthermore, each includes a transfer unit (212) which, by receiving force from the power source (130), transfers the article in an overlapping direction that intersects with the predetermined path, wherein the guide rail (110) comprises a second transfer section which runs parallel to a second transport track (440) of a second transport device which transports the article, wherein the guide rail (110) and the second transport track (440) are arranged in a horizontal direction relative to each other, wherein the second transfer section is a section in which the article is transferred to and from the second transport device, and wherein the control (300) causes the article to be transferred by the transfer unit (212) in a state in which the first transport carriage (210) and the second transport carriage (220) are each brought to travel at a speed that is synchronous with a transport speed of the second transport device in the second transfer section.

Description

[Technical field]

[0001] The present invention relates to an article transfer device for transporting and transferring articles using a floor-level primary-side linear motor. [General state of the art]

[0002] A transport device has already been disclosed which transports articles by effecting separate movement of pallets (transport carriages) using a floor-level primary-side linear motor (see, for example, PTL 1). [List of cited publications][Patent literature]

[0003] [PTL 1] Published unexamined Japanese patent application No. 05-328535

[0004] Further state of the art is represented by US 9 452 893 B1, DE 10 2014 106 400 A1, JPH06-245328 A, JP 2015-199575 A, US 2004 / 0134752 A1 and EP 1 530 541 B1. [Summary of the invention][Technical problem]

[0005] However, according to the technique from PTL 1, the transfer of items to and from one device, etc., did not occur with satisfactory efficiency.

[0006] The present invention, which arose in view of this problem, accordingly provides an article transfer device with the ability to transport articles onto a predetermined track, wherein the article transfer device can transfer the articles with satisfactory efficiency to and from another device and location on the side of the predetermined track. [Solution to the problem]

[0007] To solve the problem described above, according to one aspect of the present invention, an article transfer device is provided which transfers articles, wherein the article transfer device comprises: a guide rail arranged along a predetermined path; primary-side stators arranged along the predetermined path; a first transport carriage and a second transport carriage, each comprising a secondary-side movable element and transporting an article by moving along the guide rail, the secondary-side movable element receiving a magnetic effect from the primary-side stators;and a power source arranged on the predetermined path, wherein the first transport carriage and the second transport carriage are each caused by a ground-level primary-side linear motor system comprising the primary-side stators and the secondary-side movable element to move in such a way that they are individually stopped or change a travel speed, and furthermore each comprise a transfer unit which, by receiving force from the power source, transfers the article in an overlapping direction that intersects the predetermined path.

[0008] Since the operation of the first and second transport carriages is controlled separately in this item transfer device, it is possible to move each carriage according to the timer for transferring the item to a transfer point for the respective item. Therefore, in an item transfer device capable of transporting items along a predetermined path, the transfer of items to and from another device and point on the side of the predetermined path is possible with satisfactory efficiency.

[0009] According to the invention, the article transfer device further comprises a control unit that controls the operation of the primary-side linear motor system located near the floor.

[0010] Furthermore, it is possible for the control system to cause one of the first transport sleds and the second transport sled to move, while the same system causes another of the first transport sleds and the second transport sled to stop.

[0011] Therefore, it is possible to stop each of the first and second transport carriages according to the timer for the transfer of an item. This allows for the efficient transfer of items to and from one device and location along the predetermined path.

[0012] Furthermore, it is possible that the guide rail includes a first transfer section positioned along a direction that intersects with an arrangement direction of a first transport path of a first transport device that transports the article, wherein the first transfer section is a section in which the article is transferred to and from the first transport device, and that the control causes the transfer unit to transfer the article to and from the first transport device in a state in which the first transport carriage and the second transport carriage are each stopped in the first transfer section.

[0013] Therefore, it is possible, according to the timing control for transporting an item by the first transport device, to cause one of the first transport carriages and the second transport carriage, corresponding to the timing control for transport, to stop in the first transfer section. Thus, a transfer of items to and from the first transport device is possible with satisfactory efficiency.

[0014] According to the invention, the guide rail comprises a second transfer section which runs parallel to a second transport track of a second transport device which transports the article, wherein the second transfer section is a section in which the article is transferred to and from the second transport device, and wherein the control causes a transfer of the article by the transfer unit in a state in which the first transport carriage and the second transport carriage are each brought to a travel speed which is synchronous with a transport speed of the second transport device in the second transfer section.

[0015] Since the transfer of an item takes place in a state in which the respective transport carriage is set in motion at a speed that is synchronous with the transport speed of the second transport device, which transports items on the second transport track running parallel to the second transfer section, a sufficient execution of the transfer of items to and from the second transport device is possible.

[0016] Furthermore, it is possible that the control system causes the first transport carriage and the second transport carriage to move synchronously with each other.

[0017] Therefore, efficient movement of the first transport carriage and the second transport carriage is possible.

[0018] Furthermore, it is possible that the transfer unit comprises: a secondary-side rotor rotating by means of a rotating shaft extending in a direction of travel of the first or second transport carriage; and that a transfer conveyor driven in the direction of intersection by the secondary-side rotor, the power source having primary-side stators, each having a substantially C-shaped cross-section, the primary-side stators covering part of a region through which the secondary-side rotor, each contained in the first and second transport carriages respectively, passes when the first and second transport carriages are moving, and the secondary-side rotor is rotated by absorbing magnetic force due to a magnetic action from the primary-side stator of the power source to drive the transfer conveyor.

[0019] Accordingly, the power source is arranged without contact with the first and second transport carriages and applies force to the transfer unit by means of magnetic action. Since neither the power for movement nor the power for transfer is provided on the first and second transport carriages in this way, and both transport carriages are based on magnetic action, it is possible to simplify the design of the first and second transport carriages.

[0020] Furthermore, it is possible that the track comprises an endless path with a straight section and a curved section, and that the article transfer device further comprises: a rotation mechanism that is rotated to cause one of the first transport carriages and the second transport carriage to move on the curved section; and a motor that rotates the rotation mechanism.

[0021] Therefore, it is easy to set the first transport sled and the second transport sled in motion, each in the curved section.

[0022] Furthermore, it is possible that the endless track of the guide rail comprises a pair of straight sections that are opposite each other in a vertical direction, wherein the pair of straight sections comprises an upper straight section and a lower straight section, and that the first transport carriage and the second transport carriage are each brought to travel in the curved section by gravity on the first transport carriage and the second transport carriage respectively, wherein the curved section is connected from the upper straight section to the lower straight section.

[0023] Therefore, it is unnecessary to install a power source in connection with the transport carriage in the curved section connecting the upper straight section and the lower straight section. This simplifies the design of the guide rail.

[0024] Furthermore, it is possible that the control system, which controls the operation of the primary-side linear motor system near the floor, causes the first or second transport carriage to slow down by controlling the primary-side stators arranged in the lower straight section.

[0025] Therefore, it is possible to prevent the drive control from being deactivated if the first and second transport sleds are each set in motion by gravity. This means that it is possible to control the movement of the first and second transport sleds appropriately.

[0026] Furthermore, it is possible that the control system causes the first transport carriage and the second transport carriage to remain in the lower straight section.

[0027] Therefore, it is possible to provide the first or second transport carriage with a short delay when the transport of an item becomes necessary.

[0028] Furthermore, it is possible that the primary-side stators located in the upper straight section are positioned closer together than the primary-side stators located in the lower straight section.

[0029] Therefore, it is possible to control the movement of the first transport carriage and the second transport carriage more precisely in the upper straight section where the transfer of items takes place.

[0030] Furthermore, it is possible that the article transfer device also comprises: a transport conveyor arranged to be aligned in a straight line with the guide rail in a direction of the predetermined path in which the primary-side stators are arranged in the predetermined path, the transport conveyor carrying the first transport carriage and the second transport carriage.

[0031] In a section where a separate change in travel speed for the first and second transport carriages is not necessary, it is therefore possible to ensure their movement at a constant speed along the predetermined path through the conveyor. This means that it is possible to simplify the design of a section where the travel speed does not need to be changed separately.

[0032] Furthermore, it is possible that the predetermined path is an endless path which, in plan view, has a straight section and a curved section, and that the transport conveyor is arranged along the curved section.

[0033] Furthermore, it is possible that the predetermined path is an endless path which, in plan view, has a straight section and a curved section, and that the guide rail and the transport conveyor are arranged such that they are aligned in a straight line in the straight section in a direction in which the straight section extends, with the primary-side stators arranged along the guide rail. [Advantageous effects of the invention]

[0034] The article transfer device of the present invention, which is an article transfer device with the ability to transport articles onto a predetermined track, can transfer articles with satisfactory efficiency to and from another device and location on the side of the predetermined track. Brief description of the drawings Fig. Figure 1 is a perspective diagram to explain the design of an article transfer device in an exemplary embodiment. Fig. Figure 2 is a schematic diagram of the article transfer device in the exemplary embodiment, viewed from one direction of travel of a transport carriage. Fig. Figure 3 is a block diagram illustrating the functional design of the article transfer device in the exemplary embodiment. Fig. Figure 4 is a diagram explaining an example of the use of the article transfer device. Fig. Figure 5 is a schematic diagram to explain the design of an article transfer device according to embodiment 2. Fig. Figure 6 is a diagram explaining the respective transport carriage that travels in the respective arc section according to embodiment 2. Fig. Figure 7 is a schematic diagram to explain a design of an article transfer device according to variant 1 of embodiment 2. Fig. Figure 8 is a schematic diagram to explain a design of an article transfer device according to variant 2 of embodiment 2. Fig. Figure 9 is a schematic diagram to explain the design of an article transfer device according to variant 3 of embodiment 2. Fig. Figure 10 is a schematic diagram to explain the design of an article transfer device according to embodiment 3. Fig. Figure 11 is a perspective diagram to explain the design of an article transfer device in embodiment 4. Fig. Figure 12 is a schematic diagram of the article transfer device in embodiment 4, viewed from one direction of travel of a transport carriage. Fig. Figure 13 is a schematic diagram to explain a design of an article transfer device according to a further embodiment. [Description of embodiments]

[0035] Exemplary embodiments of an article transfer device according to the invention are described in more detail below with reference to the accompanying drawings. The figures in the drawings are also schematic and not necessarily exact illustrations.

[0036] It should be noted that all embodiments described below are specific examples of the present invention. The numerical values, shapes, materials, components, arrangement positions, and connection configurations of the components, steps, sequence of steps, and the like described in the following embodiments are merely examples and are not intended to limit the present invention. The present invention is characterized by the accompanying claims. Therefore, of the components in the following embodiments, those components not described in independent claims that represent the most general concept of the present invention are described as elements that represent more advantageous embodiments. (Example 1)[Training]

[0037] First, with reference to Fig. 1 and Fig. 2 An article transfer device 100 in an embodiment of the present invention is described in outline.

[0038] Fig. Figure 1 is a perspective diagram to explain the design of the article transfer device in the exemplary embodiment. Fig. Figure 2 is a schematic diagram of the article transfer device in the exemplary embodiment, viewed from one direction of travel of a transport carriage.

[0039] The article transfer device 100 comprises, as shown in Fig. 1 and Fig. Figure 2 shows a guide rail 110, primary-side stators 120, a power source 130, a first transport carriage 210 and a second transport carriage 220. Furthermore, the article transfer device 100 can include a position sensor 140.

[0040] The guide rail 110 is a component that runs along the predetermined path (along the direction of the X-axis in Fig. 1 and Fig. 2) is arranged. In particular, the guide rail 110, which is formed from two long structural elements, each having a shape along the predetermined path and aligned in a straight line perpendicular to the predetermined path, is made, for example, of metal such as aluminum and an aluminum alloy. It is noted that the guide rail 110 may be made of synthetic resin. As in Fig. As shown in Figure 1, in this embodiment the guide rail 110 comprises a first transfer section 111, which is positioned along a direction that intersects with an arrangement direction of a first transport track 410 of a first transport device 400, which transports an article 10. The first transfer section 111 is a section where the article 10 is transferred to and from the first transport device 400.

[0041] The primary-side stators 120 are arranged along the predetermined path. In particular, each primary-side stator 120 is formed by a long, plate-like substrate elongated along the predetermined path and a corresponding set of several coils arranged such that they are aligned in a straight line along the longitudinal direction of the substrate. That is to say, essentially the multiple coils function as the primary-side stators 120. The multiple coils forming the primary-side stators 120 each independently generate a magnetic field by being separately controlled by a controller (not shown).By controlling the primary-side stators 120 separately in this way, they exert a magnetic effect on a secondary-side movable element 211 and a secondary-side movable element 221 provided in the first transport carriage 210 and the second transport carriage 220, respectively, thereby applying force in the direction of the X-axis to move the first transport carriage 210 and the second transport carriage 220 on the guide rail 110. In this embodiment, it is sufficient that the article transfer device 100 comprises at least two transport carriages, the first transport carriage 210 and the second transport carriage 220, and naturally, an article transfer device comprising three or more transport carriages is included within the scope of the present invention. In this case, the three or more transport carriages preferably all have the same functional configuration.

[0042] The power source 130, which is arranged on the predetermined path, applies force to a transfer unit 212, which is contained in the first transport carriage 210 and the second transport carriage 220, and thus activates the transfer unit 212.

[0043] The position sensor 140 is a sensor for detecting the position of the respective first transport carriage 210 and second transport carriage 220. The position sensor 140 is, for example, a magnetic sensor and detects the position of a permanent magnet as a detectable component (see below), which is provided on each of the first transport carriage 210 and the second transport carriage 220. The position sensor 140 does not have to be a magnetic sensor and can also be a sensor that uses a laser beam, an ultrasonic wave, or the like, or it can be a sensor that uses an image captured by a camera.

[0044] The position sensor 140 is arranged on and along the predetermined path. In particular, the position sensor 140 is arranged above the section in which the primary-side stators 120 are located. By controlling one of the primary-side stators 120 corresponding to the respective position of the first transport carriage 210 and the second transport carriage 220, as detected by the position sensor 140, the article transfer device 100 can control the movement of the first transport carriage 210 and the second transport carriage 220 respectively.

[0045] With reference to Fig. 2 describes in particular the first transport carriage 210.

[0046] The first transport carriage 210 is a transport carriage that has the secondary-side movable element 211 and transports an article by moving along the guide rail 110, whereby the secondary-side movable element 211 receives a magnetic effect from the primary-side stators 120. In addition to the secondary-side movable element 211, the first transport carriage 210 comprises the transfer unit 212, a detectable section 216, a frame 217 which serves as a base, and rollers 218 provided on the frame 217.

[0047] The secondary-side movable element 211 is formed, for example, by several permanent magnets. These magnets are arranged in a straight line in the direction of travel of the first transport carriage 210. The secondary-side movable element 211 projects downwards from the frame 217 so that, when the first transport carriage 210 is positioned on the guide rail 110, it is located opposite both sides of the primary-side stators 120 along the Y-axis. In other words, the secondary-side movable element 211 has several permanent magnets positioned in two rows along the X-axis on both sides of the primary-side stators 120 along the Y-axis.One row of multiple permanent magnets is arranged such that an N-pole and an S-pole alternately face the side opposite the primary-side stators 120. It is noted that the secondary-side movable element 211 can also be formed by a single row of permanent magnets, without being limited to two rows. Furthermore, the secondary-side movable element 211 can be formed by multiple rows of permanent magnets aligned in a straight line in the direction of travel. The first transport carriage 210 moves in such a way that it can be individually stopped or its speed changed (accelerated / decelerated) by a ground-level primary-side linear motor system formed by the primary-side stators 120 arranged on the predetermined path and the secondary-side movable element 211 contained in the first transport carriage 210.

[0048] The transfer unit 212 transfers an item in an overlapping direction (direction of the Y-axis) that intersects the predetermined path by drawing force from the power source 130. It should be noted that in this embodiment, although the transfer unit 212 transfers an item in the direction of the Y-axis, the transfer direction is not limited to the direction of the Y-axis and can also be a direction not strictly perpendicular to the predetermined path, provided that it is a direction that intersects the predetermined path (the direction of travel of the first transport carriage 210). For example, the transfer unit 212 can be positioned along a direction that intersects the predetermined path (the direction of travel of the first transport carriage 210) at a 45-degree angle.

[0049] In particular, the transfer unit 212 comprises a secondary rotor 213, a transfer conveyor 214, and a belt 215. The secondary rotor 213 rotates about a rotating shaft that extends along the direction of travel of the first transport carriage 210. The secondary rotor 213 rotates by absorbing magnetic force from a primary stator 131 of the power source 130 and drives the transfer conveyor 214. The secondary rotor 213 is supported by a support member that projects downwards from the frame 217 to rotate below the frame 217.

[0050] With reference to Fig. 2. Details of power source 130 are described here.

[0051] The power source 130 is formed by the primary-side stators 131, each of which has a substantially C-shaped cross-section. The primary-side stators 131 cover a substantially cylindrical region through which the secondary-side rotor 213, contained in the first transport carriage 210, passes as the first transport carriage 210 travels. Several primary-side stators 131 are arranged along the track of the power source 130 so that they are aligned in a straight line along the track. The power source 130 applies a magnetic force to the secondary-side rotor 213, which is contained in the first transport carriage 210, by causing the primary-side stators 131 to generate a predetermined magnetic field.The power source 130 is arranged in a section where the transfer unit 212 of the first transport carriage 210 is to be driven on the predetermined path, and drives the transfer unit 212 of the first transport carriage 210 when the first transport carriage 210 passes through the section and the article 10 is transferred from the outside or the article 10 is transferred to the outside, by being controlled by the controller.

[0052] The transfer conveyor 214 is driven by the secondary-side rotor 213 via the belt 215 in the direction of intersection. The transfer conveyor 214 is, for example, a belt conveyor driven in the direction of the Y-axis and is located on an upper surface of the first transport carriage 210. That is, the transfer conveyor 214 is a mounting surface for the article 10 on the first transport carriage 210 and is driven in the direction of the Y-axis to transfer the article 10 from the outside in the direction of the Y-axis to the upper surface of the first transport carriage 210 (i.e., the upper surface of the transfer conveyor 214) and to transfer the article 10, positioned on the upper surface of the first transport carriage 210, outwards from that upper surface in the direction of the Y-axis. The transfer conveyor 214 can be a roller conveyor, not just a belt conveyor.

[0053] The belt 215 is a power transmission belt that connects the rotating shaft of the secondary rotor 213 and the rotating shaft for driving the transfer conveyor 214, and transmits the rotation from the rotating shaft of the secondary rotor 213 to the rotating shaft for driving the transfer conveyor 214. The belt 215 is, for example, a rubber belt. The belt 215 can also be a chain, without being limited to a rubber belt.

[0054] The detectable component 216 is, for example, a permanent magnet and a component for detection by the position sensor 140. The detectable component 216 need not be a permanent magnet and can be a slide body of the first transport slide 210 itself if the position sensor 140 is a sensor that uses a laser beam, an ultrasonic wave, or an image captured by a camera.

[0055] The second transport carriage 220 comprises a secondary-side movable element 221, a transfer unit 222, a detectable section 226, a frame 227 which serves as a base, and rollers 228 provided on the frame 227.

[0056] The secondary-side movable element 221 has the same design as the secondary-side movable element 211.

[0057] The transfer unit 222 has the same design as the transfer unit 212. That is, the secondary-side rotor 223, the transfer conveyor 224 and the belt 225 contained in the transfer unit 222 each have the same designs as the secondary-side rotor 213, the transfer conveyor 214 and the belt 215.

[0058] Furthermore, the detectable section 226, the frame 227 and the roller 228 each have the same designs as the detectable section 216, the frame 217 and the roller 218.

[0059] Fig. Figure 3 is a block diagram illustrating the functional design of the article transfer device in the exemplary embodiment.

[0060] The article transfer device 100 comprises a control unit 300, the primary-side stators 120, the power source 130, the position sensor 140, the first transport carriage 210 and the second transport carriage 220.

[0061] Since the primary-side stators 120, the power source 130, the position sensor 140 and the first transport carriage 210 (the second transport carriage 220) are already based on Fig. 1 and Fig. Since the two components were described in section 2, their descriptions are omitted here. That is, only the control unit 300 is described here. It should be noted that the second transport carriage 220 functions in the same way as the first transport carriage 210.

[0062] The controller 300 controls the operation of the floor-level primary-side linear motor system, which consists of the primary-side stators 120 and the secondary-side moving element 211 of the first transport carriage 210. The controller 300 can control the first transport carriage 210 and the second transport carriage 220 independently by controlling the primary-side stators 120, and can, in particular, perform a control operation to move one of the first transport carriages 210 and the second transport carriage 220 while the other is stopped. For example, with both the first transport carriage 210 and the second transport carriage 220 stopped at the first transfer section 111, the controller 300 causes the transfer units 212 and 222 to transfer items to and from the first transport device 400.

[0063] Furthermore, the control unit 300 can control the primary-side stators 120 and thereby cause the first transport carriage 210 and the second transport carriage 220 to move synchronously with each other.

[0064] The controller 300, for example, consists of a processor that executes a predetermined program and a memory in which the predetermined program is stored. Alternatively, the controller 300 can also be formed by a special circuit.

[0065] Next, an example of how to use the article transfer device 100 will be described.

[0066] Fig. Figure 4 is a diagram illustrating an example of how the article transfer device can be used.

[0067] In the example from Fig. 4 The guide rail 110 of the article transfer device 100 includes the first transfer section 111, which is positioned along a direction that intersects with the arrangement direction of the first transport track 410 of the first transport device 400, and receives the article 10 from the first transport device 400. Additionally, the guide rail 110 includes a second transfer section 112 in which a sorting chute 420 is arranged at a point behind the first transfer section 111 in the direction of travel and outside the predetermined path. The power source 130 is arranged above both the first transfer section 111 and the second transfer section 112. Consequently, the controller 300 can drive the transfer unit 212, 222 of the respective transport carriage 210, 220 in the first transfer section 111 and the second transfer section 112.

[0068] As in (a) Fig. As shown in Figure 4, the control unit 300, by controlling the primary-side stators 120, causes each transport carriage 210, 220 to stop in the first transfer section 111.

[0069] As in (b) Fig. As shown in Figure 4, the control unit 300 next causes the first transport carriage 210, which has taken over the article 10, to move and travel by controlling the primary-side stators 120.

[0070] Next, the controller 300 causes, as shown in (c) from Fig. Figure 4 shows that the first transport carriage 210 moves forward by controlling the primary-side stators 120. Additionally, the control unit 300, by controlling the primary-side stators 120, causes the next transport carriage 220 to stop in the first transfer section 111 according to the detection result of the position sensor 140 and remain ready until it takes over the item 10 from the first transport device 400.

[0071] By controlling the power source 130 according to the detection result of the position sensor 140, the controller 300 drives, as shown in (d) to (f). Fig. As shown in Figure 4, the transfer unit 212 of the first transport carriage 210 is then instructed to transfer the article 10 onto the sorting chute 420, which is located outside the guide rail 110. Simultaneously, the control unit 300 drives the transfer unit 222 of the second transport carriage 220 to transfer the article 10 from the first transport device 400 onto the transfer unit 222. [Beneficial effects, etc.]

[0072] Since, in the present embodiment, the operation of the first transport carriage 210 and the second transport carriage 220 is controlled separately in the article transfer device 100, it is possible to move the respective transport carriage 210, 220 to a transfer point for the article 10 according to the time control for the transfer of each article 10. Therefore, in the article transfer device 100, which is capable of transporting the article 10 onto the predetermined track, it is possible to transfer articles with satisfactory efficiency to and from the first transport device 400 and the sorting chute 420, etc., at the side of the predetermined track.

[0073] The article transfer device 100 further comprises a control unit 300, which controls the operation of the primary-side linear motor system located near the floor. The control unit 300 causes one of the first transport carriages 210 and the second transport carriage 220 to move, while it causes the other of the first transport carriage 210 and the second transport carriage 220 to stop.

[0074] Therefore, it is possible to stop each of the first transport carriage 210 and the second transport carriage 220 according to the time control for the transfer of article 10. This allows for the transfer of article 10 with satisfactory efficiency to and from the first transport device 400 and the sorting chute 420 at the side of the predetermined track.

[0075] Furthermore, in the article transfer device 100, the guide rail 110 comprises a first transfer section 111, which is positioned along a direction that intersects with a first arrangement direction of a first transport track 410 of a first transport device 400 that transports the article 10, wherein the first transfer section 111 is a section in which the article 10 is transferred to and from the first transport device 400. The control 300 causes the transfer unit 212, 222 to transfer the article 10 to and from the first transport device 400 in a state in which the first transport carriage 210 and the second transport carriage 220 are each stopped in the first transfer section 111.

[0076] For this reason, according to the timing control for transporting the articles 10 by the first transport device 400, it is possible to ensure that one of the first transport carriages 210 and the second transport carriage 220, corresponding to the timing control for transport, stops in the first transfer section 111. Therefore, a transfer of articles to and from the first transport device 400 is possible with satisfactory efficiency.

[0077] Furthermore, in the article transfer device 100, the control unit 300 ensures that the first transport carriage 210 and the second transport carriage 220 move synchronously with each other. For this reason, efficient movement of the first transport carriage 210 and the second transport carriage 220 is possible.

[0078] Furthermore, in the article transfer device 100, the transfer unit 212, 222 comprises: a secondary-side rotor 213, which rotates by means of a rotating shaft extending in one direction of travel of the first transport carriage 210 or the second transport carriage 220; and a transfer conveyor 214, which is driven in the direction of intersection by the secondary-side rotor 213. The power source 130 has primary-side stators 131, each with a substantially C-shaped cross-section. The primary-side stators 131 cover a portion of a region through which the secondary-side rotor 213, 223, contained in the first transport carriage 210 and the second transport carriage 220 respectively, passes during the travel of the first transport carriage 210 and the second transport carriage 220.The secondary-side rotor 213 is rotated by absorbing magnetic force due to a magnetic effect from the primary-side stator 131 of the power source 130 in order to drive the transfer conveyor 214.

[0079] Accordingly, the power source 130 is arranged without contact with the first transport carriage 210 and the second transport carriage 220 and applies force to the transfer unit 212, 222 by means of magnetic action. Since in this way neither the power for driving nor the power for transfer is provided on the first transport carriage 210 and the second transport carriage 220, and both are based on magnetic action, it is possible to simplify the design of the first transport carriage 210 and the second transport carriage 220. (Example 2)

[0080] Next, embodiment 2 will be described.

[0081] Fig. Figure 5 is a schematic diagram to explain a design of an article transfer device 100A according to embodiment 2.

[0082] As in Fig. As shown in Figure 5, the article transfer device 100A has a guide rail 110A with straight sections 113, 115 and curved sections 114, 116, which form a continuous track. In particular, the guide rail 110A comprises a pair of straight sections 113, 115 that are vertically opposite each other. The curved section 114, which is a section in which the respective transport carriage 210, 220 travels from the upper straight section 113 to the lower straight section 115, connects a rear end of the upper straight section 113 with a front end of the lower straight section 115 in the direction of travel of the respective transport carriage 210, 220.The curved section 116, which is a section in which the respective transport carriage 210, 220 travels from the lower straight section 115 to the upper straight section 113, connects a rear end of the lower straight section 115 with a front end of the upper straight section 113 in the direction of travel of the respective transport carriage 210, 220. That is, the guide rail 110A forms, viewed from the horizontal direction, a track with an elliptical (oval) shape.

[0083] Furthermore, each of the arc sections 114, 116 comprises inner rails 114a, 116a and outer rails 114b, 116b, which are arranged inside and outside each arc section 114, 116, with the rollers 218, 228 of the respective transport carriage 210, 220 positioned between them. This enables the respective transport carriage 210, 220 to travel without deviation from the arc sections 114, 116 even when the direction of travel is inclined away from the horizontal.

[0084] Fig. Figure 6 is a diagram explaining each transport carriage traveling in the respective arc section according to embodiment 2. Although not shown, it is also assumed that the primary-side stators 120 are arranged in the upper straight section 133 and the lower straight section 115. Therefore, the respective transport carriages 210, 220 are able to travel in the upper straight section 113 and the lower straight section 115 according to the travel pattern described in embodiment 1.

[0085] As in (a1) to (a4) from Fig. As shown in Figure 6, each transport carriage 210, 220 is propelled by gravity along the curved section 114 connecting the upper straight section 113 and the lower straight section 115. Therefore, it is unnecessary to install a power source for the movement of each transport carriage 210, 220 within the curved section 114 connecting the upper straight section 113 and the lower straight section 115. This simplifies the design of the guide rail 110A.

[0086] As in (a1) Fig. As shown in Figure 6, the control 300, in particular, causes the respective transport carriage 210, 220 to move and enter the curved section 114 by controlling the primary-side stators 120 in the upper straight section 113.

[0087] As in (a2) and (a3) Fig. As shown in Figure 6, the next step is for the respective transport sled 210, 220 to move in the arc section 114 due to the action of gravity on the respective transport sled 210, 220.

[0088] As in (a4) Fig. As shown in Figure 6, the respective transport carriage 210, 220 then travels on the lower straight section 115 with its top side reversed compared to the travel on the upper straight section 113.

[0089] On this occasion, the controller 300 can slow down the respective transport carriage 210, 220 by controlling the primary-side stators 120, which are arranged in the lower straight section 115. Therefore, it is possible to prevent the travel control from being deactivated when the respective transport carriage 210, 220 is set in motion by gravity. That is, appropriate control of the travel of the respective transport carriage 210, 220 is possible.

[0090] Furthermore, the controller 300 can ensure that the respective transport carriage 210, 220 remains in the lower straight section 115. Therefore, if transport of the article 10 becomes necessary, each transport carriage 210, 220 can be provided with minimal time delay at the position where the article is to be received (for example, the first transfer section 111 in embodiment 1). That is, in this case, the first transfer section 111 for the transfer of the article 10 can be located in the upper straight section 113. The second transfer section 112 can also be located in the upper straight section 113.

[0091] Furthermore, the article transfer device 100A also includes a rotation mechanism 150 and a drive unit 160 of the article transfer device 100 according to embodiment 1.

[0092] To move the first transport carriage 210 or the second transport carriage 220 along the arc section 116, the rotation mechanism 150 is rotated. In particular, the rotation mechanism 150 is designed such that projecting sections 151, which pass along the path of the arc section 116, rotate with the center of a circle as their axis of rotation, a portion of which corresponds to the arc of the arc section 116. Consequently, for example, the roller 218, 228 on the front side is guided in the direction of travel of the respective transport carriage 210, 220 by the projecting sections 151 such that it travels along the arc section 116, thereby causing the respective transport carriage 210, 220 to move along the arc section 116. The rotation mechanism 150 rotates in a direction in which the respective transport carriage 210, 220 moves upwards in the arc section 116 (in Fig. 5 in the direction of left rotation).

[0093] The drive unit 160 causes the rotation mechanism 150 to rotate in a predetermined direction (in Fig. 5 in the direction of counterclockwise rotation). The drive unit 160 is, for example, a motor.

[0094] In this way, by driving the rotation mechanism 150 in a predetermined direction of rotation, a movement of the respective transport carriage 210, 220 on the arc section 116 from the lower straight section 115 to the upper straight section 113 is easily accomplished.

[0095] As in (b1) to (b4) from Fig. As shown in Figure 6, for example, rotating the rotation mechanism 150 causes a movement of the respective transport carriage 210, 220 on the arc section 116, which connects the lower straight section 115 and the upper straight section 113.

[0096] As in (b1) Fig. As shown in Figure 6, the control 300, in particular, causes the respective transport carriage 210, 220 to move and enter the curved section 116 by controlling the primary-side stators 120 in the lower straight section 115.

[0097] As in (b2) and (b3) Fig. As shown in Figure 6, the respective transport carriage 210, 220 is next guided by the protruding sections 151 of the rotation mechanism 150 in a left-hand rotation direction on the path of the arc section 116 in order to travel in the arc section 116.

[0098] As in (b4) Fig. As shown in Figure 6, the respective transport carriage 210, 220 then reaches the upper straight section 113, and is again ready to move by magnetic action from the primary-side stators 120 in the upper straight section 113.

[0099] It is also possible that the primary-side stators 120, which are arranged in the upper straight section 113, are positioned closer together than the primary-side stators 120, which are arranged in the lower straight section. Therefore, more precise control of the movement of the respective transport carriage 210, 220 is possible in the upper straight section 113, which transfers the article 10. (Variant 1 of embodiment 2)

[0100] Although the guide rail 110A in the embodiment 2 described above is intended to form an elliptical path when viewed from the horizontal direction, this is not a limiting factor. For example, for an article transfer device 100B of the present variant, as shown in Fig. Figure 7 shows a guide rail 110B being used, which forms a track with an elliptical shape when viewed from the vertical direction. That is, the guide rail 110B comprises a pair of straight sections 113B, 115B and a pair of curved sections 114B, 116B, which together form a circular track in plan view. The pair of straight sections 113B, 115B, for example, is formed by guide rails that are opposite each other in the horizontal direction. Furthermore, the curved sections 114B, 116B are formed by guide rails that each connect both ends of the straight sections 113B, 115B. It is noted that it is not necessary for the entire guide rail 110B to be arranged at the same height and that it may have a section that is inclined with respect to the horizontal direction.

[0101] Although not shown, in this case the primary-side stators 120 can be arranged over all sections of the guide rail 110B. Furthermore, the primary-side stators 120 can also be arranged only in the pair of straight sections 113B, 115B, and in this case, in the pair of curved sections 114B, 116B, the first transport carriage 210 or the second transport carriage 220 can be moved by the rotation mechanism driven by the drive unit. Additionally, the primary-side stators 120 can be arranged in a portion of the pair of straight sections 113B, 115B or a portion of the pair of curved sections 114B, 116B. Although the first transport carriage 210 or the second transport carriage 220 in Fig. 7 is designed for counterclockwise movement, it is noted that it can also be designed for clockwise movement. (Variant 2 of embodiment 2)

[0102] Although in the embodiment 2 described above the guide rail 110A forms an elliptical track, the guide rail is not limited to this and can have any shape, provided that it forms a continuous track. In particular, the guide rail can be formed by straight sections in a vertical direction instead of the curved sections 114, 116 in embodiment 2. For an article transfer device 100C of the present variant, for example, as shown in Fig. Figure 8 shows that a guide rail 110C is used, which, viewed from the horizontal direction, forms a track with a rectangular shape. That is, the guide rail 110C comprises a pair of straight sections 113C, 115C, which are opposite each other in the vertical direction, and a pair of lifting sections 114C, 116C, which extend in the vertical direction. The pair of lifting sections 114C, 116C is formed by vertical conveyors 170a, 170b.

[0103] The vertical conveyors 170a and 170b are each formed by a first vertical conveyor 170a and a second vertical conveyor 170b. The first vertical conveyor 170a is a conveyor that causes a downward movement of the first transport carriage 210, which is arranged in the lifting section 114C. The second vertical conveyor 170b is a conveyor that causes an upward movement of the first transport carriage 210, which is arranged in the lifting section 116C. The first vertical conveyor 170a and the second vertical conveyor 170b are driven synchronously with each other.

[0104] It is noted that the pair of straight sections 113C, 115C is formed by guide rails arranged in a straight line and several stages of transport rails 171a, 171b contained within the vertical conveyors 170a, 170b. Although not shown, in this case the primary-side stators 120 may be arranged above the pair of straight sections 113C, 115C of the guide rail 110C or arranged within a portion of the pair of straight sections 113C, 115C.

[0105] It is noted that the lifting section 114C, 116C may be formed by a lifting device. (Variant 3 of embodiment 2)

[0106] Although in variant 1 of embodiment 2 described above the guide rail 110B forms a track with an elliptical shape, the guide rail is not limited to this, provided that it forms a continuous track. In particular, the guide rail can be formed by straight sections in the horizontal direction instead of the curved sections 114B, 116B in variant 1 of embodiment 2. For an article transfer device 100D of the present variant, for example, as shown in Fig. Figure 9 shows a guide rail 110D being used, which, viewed from the vertical direction, forms a track with a rectangular shape. The guide rail 110D comprises four straight sections 113D to 116D, which form a rectangular section.

[0107] Of the four straight sections 113D to 116D, the pair of straight sections 113D, 115D, which are opposite each other, are formed by straight rails in which the primary-side stators 120 are arranged, and the pair of straight sections 114D, 116D is formed by conveyors 180 that connect both ends of the pair of straight sections 113D, 115D. The first transport carriage 210 and the second transport carriage 220 travel on the rail by receiving magnetic force from the primary-side stators 120 in the pair of straight sections 113D, 115D, until they reach the conveyor 180. The first transport carriage 210 and the second transport carriage 220 are then transported by the conveyor 180 in a direction perpendicular to the pair of straight sections 113D, 115D.This means that the first transport carriage 210 and the second transport carriage 220 are transported by the conveyor 180 from one straight section of the pair of straight sections 113D, 115D to the other straight section. Then, the first transport carriage 210 and the second transport carriage 220 are pushed out to the other straight section by a push mechanism 181, which is provided at the position of the other straight section, and thereby moved to the other straight section. (Variant 4 of embodiment 2)

[0108] Although in embodiment 2 and variant 2 of embodiment 2 described above, it is assumed that a pair of straight sections 113, 115 (113C, 115C) are opposite each other in the vertical direction, they are not necessarily opposite each other in the vertical direction. That is, the pair of straight sections only needs to differ in the height at which they are arranged. (Variant 5 of embodiment 2)

[0109] In the embodiment 2 described above, it is assumed that the guide rail forms a circular track with an elliptical shape, a rectangular shape, or the like as an endless track; however, the guide rail can, without being limited to a circular track, also form a track with an "8" shape or a θ shape. That is, the guide rail can form a track that includes a circular section as part of it. (Example 3)

[0110] Next, embodiment 3 will be described.

[0111] Fig. Figure 10 is a schematic diagram to explain the design of an article transfer device according to embodiment 3.

[0112] As in Fig. As shown in Figure 10, in the article transfer device 100E, the guide rail 110E comprises a second transfer section 112E, which runs parallel to a second transport track 440 of a second transport device 430 that transports the article 10. The second transfer section 112E is a section in which the article 10 is transferred to and from the second transport device 430. The control unit 300 causes the article 10 to be transferred by the transfer unit 212, 222 in a state in which the first transport carriage 210 and the second transport carriage 220 are each traveling at a speed that is synchronous with the transport speed of the second transport device 430 in the second transfer section 112E.

[0113] For example, as in (a) Fig. Figure 10 shows that the control 300, by controlling the primary-side stators 120, ensures that each transport carriage 210, 220 stops in the first transfer section 111.

[0114] As in (b) Fig. As shown in Figure 10, the control unit 300 next causes the first transport carriage 210, which has received the article 10, to be driven and moved by controlling the primary-side stators 120, and transfers the article 10 to the second transport track 440 of the second transport device 430, which is arranged outside the guide rail 110, by controlling the power source 130 according to the detection result of the position sensor 140 to drive the transfer unit 212 of the first transport carriage 210.

[0115] At this moment, the control 300 causes, as shown in (c) and (d) Fig. Figure 10 shows that the first transport carriage 210 travels at a speed that is synchronous with the speed of the transport of the article 10 by the second transport device 430.

[0116] Since the transfer of article 10 takes place in a state in which each transport carriage 210, 220 is set in motion at a speed that is synchronous with the transport speed of the second transport device 430, which transports articles on the second transport track 440, which runs parallel to the second transfer section 112E, a sufficient transfer of article 10 to and from the second transport device 430 is possible.

[0117] It is noted that in the embodiment 3 described above, the second transport device 430 is intended to be a device for receiving the article 10 from the article transfer device 100E, but that it can also be a device for feeding the article 10 to the article transfer device 100E. Since in this case the article transfer device 100E can receive the article 10 from the second transport device 430 without stopping the respective transport carriage 210, 220, a more efficient transfer of the article 10 is possible. (Example 4)

[0118] Next, embodiment 4 will be described.

[0119] Fig. Figure 11 is a perspective diagram to explain the design of an article transfer device in embodiment 4. Fig. Figure 12 is a schematic diagram of the article transfer device in embodiment 4, viewed from the direction of travel of a transport carriage.

[0120] As in Fig. 11 and Fig. As shown in Figure 12, an article transfer device 100F comprises a guide rail 110F, primary-side stators 120F, a first transport carriage 210F and a second transport carriage 220F.

[0121] The article transfer device 100F differs from the article transfer device 100 in embodiment 1 in the designs of the primary-side stators 120F and the secondary-side movable element 211F. In particular, each of the primary-side stators 120F differs in that it has a shape extending in the horizontal direction (direction of the Y-axis) (i.e., a shape parallel to the XY plane), compared to each of the primary-side stators 120F, which has a shape extending in the vertical direction (direction of the Z-axis) (i.e., a shape parallel to the XZ plane). The secondary-side movable element 211F has a shape along the horizontal direction such that it is opposite each of the primary-side stators 120F extending in the horizontal direction.

[0122] Furthermore, the article transfer device 100F differs from the article transfer device 100 in embodiment 1 in the design of a power source 130F and a transfer unit 212F. In particular, a primary-side stator 131F has a shape that surrounds an area of ​​approximately 270 degrees around the direction of travel (direction of the X-axis) of the first transport carriage 210F. In other words, the primary-side stator 131F has a shape in which a portion of the side surface, corresponding to an area of ​​approximately 90 degrees, is removed from the side surface of a cylindrical shape. The primary-side stator 131F is arranged such that the portion removed from the cylindrical shape is oriented towards the positive direction of the Y-axis.

[0123] For this reason, a secondary rotor 213F, contained in the first transport carriage 210F, is provided at one end of a support member 219F, which extends in the negative direction along the Z-axis of the frame 217F and extends in the negative direction along the Y-axis from an end section located on the negative side along the Z-axis. Viewed from the X-axis, the support member 219F has an L-shape.

[0124] Furthermore, a belt 215F, viewed from the X-axis, is arranged in a circular shape, extending along the positions of the frame 217F and the support member 219F, which are contained within the first transport carriage 210F. The circular shape of the belt 215F is formed by winding the belt 215F around several pulleys provided at the end surfaces in the X-axis direction of the frame 217F and the support member 219F. Therefore, it is possible to reduce the dead space created by the arrangement of the belt 215F. Moreover, since the belt 215F passes essentially vertically through the frame 217F, it is possible to reduce the size of the opening for passage through the frame 217F. Therefore, it is possible to prevent the ingress of foreign materials into the frame 217F.

[0125] As with the first transport carriage 210 from embodiment 1, the first transport carriage 210F further comprises rollers 218F which are provided on the frame 217F.

[0126] The second transport carriage 220F comprises a secondary-side movable element 221F, a transfer unit 222F, a frame 227F which serves as a base, and rollers 228F which are provided on the frame 227.

[0127] The secondary-side movable element 221F has the same design as the secondary-side movable element 211F.

[0128] The transfer unit 222F has the same design as the transfer unit 212F. That is, the secondary-side rotor 223F, the transfer conveyor 224F and the belt 225F contained in the transfer unit 222F each have the same designs as the secondary-side rotor 213F, the transfer conveyor 214F and the belt 215F.

[0129] Furthermore, frame 227F and reel 228F have the same training as frame 217F and reel 218F. (Other embodiments)

[0130] Although in the embodiments 1 to 3 described above the design has taken the form of a one-way journey, in which the first transport carriage 210 and the second transport carriage 220 only travel in one direction, this is not restrictive, and the design can take the form of a two-way journey, at least in some sections.

[0131] Furthermore, for example, as with a Fig.The article transfer device 100G shown in Figure 13 comprises a guide rail 110G that allows the first transport carriage 210 and the second transport carriage 220 to travel along a straight path in both directions. Although not shown, in this case the primary-side stators 120 can be arranged over all sections of the guide rail 110G or can be arranged over some sections thereof.

[0132] Although not specifically described in any of the embodiments 1 to 3 described above, nor in any of the other embodiments described above, the article transfer device may further comprise a transport conveyor arranged in a straight line with the guide rails 110, 110A to 110G in one direction of the predetermined path, in which the primary-side stators 120 are arranged in the predetermined path, and the transport conveyor transports the first transport carriage 210 and the second transport carriage 220. That is, the predetermined path on which the first transport carriage 210 and the second transport carriage 220 travel may be formed by guide rails and a transport conveyor arranged between the guide rails.

[0133] In a section where it is not necessary to change the travel speed separately for the first transport carriage 210 and the second transport carriage 220, it is therefore possible to move them along the predetermined path through the conveyor at a constant speed. That is, it is possible to simplify the design of a section where the travel speed does not need to be changed separately.

[0134] Furthermore, in this case, the guide rail can, for example, include straight sections and curved sections that form a continuous track when viewed from above. In this case, the conveyor can be arranged along the curved section.

[0135] Furthermore, in this case, for example, the guide rail on which the primary-side stators 120 are provided and the transport conveyor can be arranged so that they are aligned in the straight section in a direction in which the straight section extends.

[0136] Although in the embodiments 1 to 3 described above, the transfer unit 212, 222 contained in each transport carriage 210, 220 is driven by a magnetic effect of the secondary-side rotor 213, 223 by means of the primary-side stator 131 contained in the power source 130, the design can be such that the transfer unit 212, 222 is not driven by magnetic effect. For example, the transfer unit can be one that is driven by rotation during the movement of the respective transport carriage by directly absorbing power from a rotating body arranged on the track.

[0137] Although the article transfer device according to the invention has been described with reference to the exemplary embodiments above, the present invention is not limited to these embodiments. It is readily apparent to those skilled in the art that various modifications and combinations of the structural elements are possible in the different embodiments and variants without substantially deviating from the novel inventive teaching and the advantages of the present invention. Accordingly, it is intended that all such modifications and combinations are included within the scope of the present invention. [Commercial Applicability]

[0138] The present invention is an article transfer device capable of transporting articles onto a predetermined track and usable as a holding device, etc., which can transfer articles with satisfactory efficiency to and from another device and location on the side of the predetermined track. [List of reference symbols] 10 items 100, 100A to 100G article transfer device 110, 110A to 110G guide rail 111 first handover section 112, 112E second transfer section 113 upper straight section 114, 116 arc section 114a, 116a inner rail 114b, 116b outer rail 115 lower straight section 120, 120F primary-side stators 130 power source 131 primary-side stator 140 Position sensor 150 rotation mechanism 151 protruding section 160 drive unit 210, 210F first transport carriage 211, 211F secondary-side movable element 212, 212F Transfer unit 213, 213F secondary-side rotor 214, 214F Transfer conveyor 215, 215F belt 216 detectable section 217, 217F frame 218, 218F reel 219F Support member 220, 220F second transport carriage 221 secondary-side movable element 222 Transfer unit 223, 223F secondary-side rotor 226 detectable section 300 control 400 first transport device 410 first transport line 420 sorting chute 430 second transport device 440 second transport track

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