Linear transport system

Abstract

To provide a linear transport system that enables the inspection of processing means, etc. without stopping the operation of the linear transport system.SOLUTION: A linear transport system is equipped with a loop-shaped circular transport path 14 and a plurality of work shuttles that travels along the circular transport path 14 under linear motor drive control. Along the circular transport path 14, a plurality of processing means that performs predetermined processes on articles is provided, and the work shuttles transport the articles to the respective processing means. The linear transport system is configured such that the inspection shuttle 48, on which a 360-degree camera 50 is installed, can be interchangeable with the work shuttles. The 360-degree camera 50 captures images of the inspection points of the processing means and the like while the inspection shuttle 48 is traveling along the circular transport path 14.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a linear transport device that transports articles using a shuttle that runs along a rail driven by a linear motor. [Background technology]

[0002] As an article transport device, a linear motor-driven linear transport device has been proposed in which a shuttle capable of supporting articles is driven by a linear motor to travel along a rail as a transport device for reasons such as the degree of freedom of transport operation and the compatibility with the types and sizes of articles to be transported (see, for example, Patent Document 1). The linear transport device disclosed in Patent Document 1 is configured such that a plurality of processing means for performing various processes on articles are provided along a so-called track-shaped circular transport path consisting of an arc-shaped transport path and a straight transport path, and articles are transported to each processing means by a shuttle arranged to be able to travel on the circular transport path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-160909 Summary of the Invention [Problem to be solved by the invention]

[0004] In the linear conveying device, if a malfunction occurs in one of the multiple processing means provided on the circular conveying path, the operation of the entire linear conveying device must be stopped. Therefore, regular maintenance and inspection are required for the multiple processing means provided on the linear conveying device to find signs of malfunction. However, depending on the inspection location, the operation of the linear conveying device must be stopped to ensure the safety of the operator, and frequent inspection work reduces production efficiency, so the interval between inspections becomes longer, and there is a risk that signs of malfunction will be overlooked and malfunctions will occur. In addition, even when the operation of the linear conveying device is stopped, it is also pointed out that the work of an operator entering the inside of the circular conveying path where various devices are arranged to inspect it is cumbersome and time-consuming.

[0005] An object of the present invention is to provide a linear transport device that allows inspection of processing means and the like without stopping the operation of the linear transport device. [Means for solving the problem]

[0006] The linear transport device of the first invention is A linear conveying device comprising: a loop-shaped circular conveying path (14); and a plurality of shuttles (17A, 17B) that travel on the circular conveying path (14) by linear motor drive control; a plurality of processing means (28, 30, 31, 32, 33, 34, 36, 37, 38) that perform predetermined processing on articles (10, 11) are provided along the circular conveying path (14); and the articles (10, 11) are conveyed to each of the processing means (28, 30, 31, 32, 33, 34, 36, 37, 38) by the shuttles (17A, 17B); The shuttle (48) that travels on the circular transport path (14) by linear motor drive control has an imaging means (50) provided thereon that can image the location to be inspected. Effect of the Invention

[0007] According to the present invention, the imaging means installed in the shuttle can capture images of the inspection target area while the linear transport device is in operation, so that signs of malfunctions in the processing means, etc. can be found and maintenance can be performed without reducing production efficiency. Also, since the operator can perform the inspection without entering the inside of the circular transport path, the inspection work is easy. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is an explanatory plan view showing a schematic configuration of the linear transport device. [Diagram 2] 2 is a schematic plan view showing a guide rail, an input rail, and an escape rail of the linear transport device. FIG. [Diagram 3] FIG. 2 is a schematic perspective view showing a main part of the linear transport device. [Figure 4] FIG. 2 is a schematic perspective view showing an inspection shuttle. [Diagram 5] 1A and 1B are front views showing a linear shuttle, in which FIG. 1A shows a state in which the linear shuttle is holding a packaging bag, and FIG. [Figure 6A] 1A is a schematic front view showing each station in a bag processing conveying path, in which (a) shows a bag receiving station, and (b) shows a bag opening station and an air blowing station. FIG. [Figure 6B] 1 is a schematic front view showing each station in a bag processing conveying path, where (a) shows a product filling station, and (b) shows a zipper crimping station, a sealing station and a discharge station. FIG. [Figure 7A] 1A and 1B are schematic front views showing each station in a carton processing conveying path, in which (a) shows a carton receiving station and (b) shows a product input station. [Figure 7B] 1A and 1B are schematic front views showing stations in a carton processing conveying path, in which (a) shows a flap folding station and (b) shows a discharge station. [Figure 8] FIG. 2 is a control block diagram of the linear transport device. [Figure 9]FIG. 4 is a schematic diagram showing a linear transport device according to a first alternative embodiment. [Figure 10] FIG. 11 is a control block diagram of a linear transport device according to a second modified embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Next, preferred embodiments of a linear transport device according to the present invention will be described with reference to the accompanying drawings. EXAMPLES

[0010] 1 to 5, the linear conveying device includes a loop-shaped circular conveying path 14, and a plurality of work shuttles (shuttle) 17A, 17B and an inspection shuttle (shuttle) 48 that can run on the circular conveying path 14 by linear motor drive control, have holding means 15, 16 that can hold the articles 10, 11, and perform a conveying process for the articles 10, 11. In addition, the linear conveying device includes a plurality of processing means 28, 30, 31, 32, 33, 34, 36, 37, 38 arranged along the circular conveying path 14 to perform predetermined processing on the articles 10, 11 held and conveyed by the work shuttles 17A, 17B traveling on the circular conveying path 14. The inspection shuttle 48 is provided with a 360-degree camera 50 as an imaging means, and is configured to be able to capture images of inspection target locations of the processing means 28, 30, 31, 32, 33, 34, 36, 37, 38, etc. by the 360-degree camera 50 while the inspection shuttle 48 is traveling on the circular transport path 14.

[0011] 1, in the linear transport device of the embodiment, the circular transport path 14 is provided with a plurality of processing transport paths 12, 13 for transporting and processing different types of articles 10, 11, and the processing means 28, 30, 31, 32, 33, 34, 36, 37, 38 perform predetermined processing on the corresponding types of articles 10, 11 held and transported by work shuttles 17A, 17B traveling on each processing transport path 12, 13. The circular transport path 14 is composed of a guide rail 18 extending along the transport path 14 and on which the work shuttles 17A, 17B and the inspection shuttle 48 can run, and the guide rail 18 is formed in a loop shape that goes around from two straight portions 12, 13 parallel to each other and two arc-shaped return portions (arc-shaped portions) 19, 19 connecting the straight portions 12, 13.

[0012] 5, the linear conveying device of the embodiment is configured to be capable of processing packaging bags 10 and cartons 11 as articles, with one straight section 12 configured as a bag processing conveying path (first processing conveying path) 12 for processing packaging bags 10, and the other straight section 13 configured as a carton processing conveying path (second processing conveying path) 13 for processing cartons 11. Each work shuttle 17A, 17B has a chuck 15 as a first holding means capable of holding the packaging bag 10 and a holding member 16 as a second holding means capable of holding the carton 11, and as will be described later, the packaging bag 10 or the carton 11 is held and conveyed along the guide rail 18 using the chucks 15, 15 or the holding members 16, 16 of the two work shuttles 17A, 17B adjacent to each other in the traveling direction.

[0013] 5, the guide rail 18 is composed of a linear guide 20 with a coil 18a (see FIG. 8) built in over the entire length of the conveying track, a grooved rail 21 disposed adjacent to the upper and lower sides of the linear guide 20, and a flat rail 22. The grooved rail 21 has a V-shaped groove (groove) 21a formed on the circumferential side extending in the circumferential direction (the shuttle's running path), and the circumferential side of the flat rail 22 is formed by a flat surface. As shown in Figures 2 and 3, in the linear conveying device of the embodiment, an input rail 40 is arranged in one return section 19 of the guide rail 18 at a position corresponding to the connection section where the return section 19 transitions to one straight section (bag processing conveying path in this embodiment) 12, at a predetermined distance, and extends as a straight track parallel to the outside of the straight section (bag processing conveying path) 12, and an evacuation rail 41 is arranged at a predetermined distance at a position corresponding to the connection section where the return section 19 transitions to the other straight section (carton processing conveying path in this embodiment) 13, and extends as a straight track parallel to the outside of the straight section (carton processing conveying path) 13. As shown in FIG. 3, the feed rail 40 and the retreat rail 41, like the guide rail 18, are composed of linear guides 42, 43 with coils 40a, 41a (see FIG. 8) built in, grooved rails 44, 45 provided on the upper part of the linear guides 42, 43 and having two rows of V-shaped grooves 44a, 45a formed at a predetermined interval on the surface facing the straight sections 12, 13, and flat rails 46, 47 provided on the lower part and having a flat surface formed as the surface facing the straight sections 12, 13.

[0014] The work shuttles 17A, 17B are provided with a permanent magnet in the shuttle body 23, and the magnetic force of the permanent magnet attracts the shuttle body 23 to the surface of the linear guides 20, 42, 43 of the guide rail 18, the feed rail 40 or the retreat rail 41, and the first guide roller 25 described below fits into the V-groove 21a, 44a, 45a of the grooved rail 21, 44, 45 and comes into close contact with it, while the second guide roller 27 abuts against the surface of the flat rail 22, 46, 47. In this state, the supply of electricity to the coil is controlled so that the work shuttles 17A, 17B are operated by a linear motor drive that runs along the guide rail 18, the feed rail 40 or the retreat rail 41. Furthermore, the linear guides 20, 42, 43 are configured so that a magnetic force acts to attract the permanent magnets of the shuttle body 23 to a ferromagnetic material made of a metal such as iron that attracts magnets, or to the iron cores of the coils 18a, 40a, 41a, and even when no current is applied to the coils 18a, 40a, 41a, the work shuttles 17A, 17B are configured to be held against the guide rail 18, feed rail 40 or retreat rail 41 by the magnetic force.

[0015] As shown in Fig. 5, the work shuttles 17A, 17B are provided with a holder 24 extending upward from the shuttle body 23, and two first guide rollers 25 are axially supported by the holder 24 so as to be freely rotatable. The first guide rollers 25 fit into V-grooves 21a, 44a, 45a in the guide rail 18, the feed rail 40, or the retreat rail 41 to guide the travel of the work shuttles 17A, 17B. In addition, two second guide rollers 27 are supported by a sub-holder 26 protruding downward from the shuttle body 23 so as to be freely rotatable. The second guide rollers 27 are configured to rotate with their outer circumferential surfaces in contact with the surfaces of the flat rails 22, 46, 47 provided on the guide rail 18, the feed rail 40, or the retreat rail 41. Then, when the work shuttles 17A, 17B are attracted to the guide rail 18, the feed rail 40 or the retreat rail 41 by magnetic force, the first guide roller 25 fits into the V-groove 21a, 44a, 45a of the grooved rail 21, 44, 45 and the outer peripheral surface of the second guide roller 27 abuts against the surface of the flat rail 22, 46, 47, a gap is provided between the opposing surfaces of the linear guides 20, 42, 43 provided on the guide rail 18, the feed rail 40 or the retreat rail 41 and the shuttle body 23, allowing the work shuttles 17A, 17B to run freely along the guide rail 18, the feed rail 40 or the retreat rail 41.

[0016] 5, the work shuttles 17A, 17B are provided with the chuck 15 capable of holding the packaging bag 10 at one end, front or rear, in the running direction, and with the holding member 16 capable of holding the carton 11 at the other end. In this embodiment, the work shuttles 17A, 17B include a first work shuttle (first shuttle) 17A having the chuck 15 at the front end in the running direction and the holding member 16 at the rear end, and a second work shuttle (second shuttle) 17B having the holding member 16 at the front end in the running direction and the chuck 15 at the rear end, and the first work shuttle 17A and the second work shuttle 17B are configured to run on the circular conveying path 14 so as to be alternately lined up in the running direction. The chuck 15 has clamping pieces 15a (only one of which is shown) that can be opened and closed in a front-rear direction intersecting the traveling direction, and both clamping pieces 15a are always biased in a closing direction by a spring, and are configured to clamp and hold the left and right ends of a packaging bag 10 supplied between a first work shuttle 17A and a second work shuttle 17B adjacent in the traveling direction so that the chucks 15 and 15 face each other at a bag receiving station S1 described later (see FIG. 5(a)). The holding member 16 is a plate-shaped member, and is configured to clamp and hold a carton 11 supplied between a second work shuttle 17B and a first work shuttle 17A adjacent in the traveling direction so that the holding members 16 and 16 face each other at a carton receiving station K1 described later by narrowing the gap between the two work shuttles 17A and 17B (see FIG. 5(b)).

[0017] 1, 6A and 6B, processing stations consisting of a bag receiving station S1, a bag opening station S2, an air blowing station S3, a product filling station S4, a zipper crimping station S5, a sealing station S6 and a discharging station S7 are arranged in this order from upstream to downstream on the bag processing conveying path 12 in relation to the traveling direction of work shuttles 17A and 17B traveling on the bag processing conveying path 12. Processing means 28, 30, 32, 33 and 34 are arranged at each of stations S1 to S7 on the bag processing conveying path 12 for performing predetermined processing on the packaging bags 10 held by the work shuttles 17A and 17B.

[0018] 6A(a), the bag receiving station S1 is provided with a chuck release means 28 as a processing means for releasing the clamping pieces 15a, 15a of the chucks 15 of the multiple (four in this embodiment) work shuttles 17A, 17B positioned at the bag receiving station S1. Corresponding to the bag receiving station S1, a bag supply means 29 is provided outside the bag processing conveying path 12 for supplying packaging bags 10 with the bag mouth facing upward between the clamping pieces 15a, 15a opened by the chuck release means 28 between the adjacent first work shuttle 17A and second work shuttle 17B positioned so that the chucks 15, 15 face each other in the traveling direction (see FIG. 1). In this embodiment, bag supplying means 29 is configured to supply two packaging bags 10 to four work shuttles 17A, 17B (two pairs of a first work shuttle 17A and a second work shuttle 17B) positioned at bag receiving station S1. When a packaging bag 10 is supplied, zipper opening means 28 releases the opening of clamping pieces 15a, 15a, and the clamping pieces 15a, 15a are closed by the spring, so that the left and right ends of the packaging bag 10 are clamped by clamping pieces 15a, 15a.

[0019] As shown in FIG. 6A(b), the bag opening station S2 is provided with a bag opening means 30 as a processing means for opening the bag mouth of the packaging bag 10 held by a pair of chucks 15. The bag opening means 30 includes two suction parts 30a (only one of which is shown) located at the front and rear of the packaging bag 10 and facing each other, and an operating means (not shown) such as an air cylinder for moving the suction parts 30a toward and away from each other. The bag opening means 30 is configured to open the bag mouth by moving the two suction parts 30a toward each other to suction the front and rear surfaces of the packaging bag 10, and then moving the two suction parts 30a away from each other. When opening the bag mouth, the pair of work shuttles 17A and 17B holding the packaging bag 10 are moved to narrow the gap between them, so that the bag mouth can be opened while maintaining the bag mouth held by the chucks 15.

[0020] 6A(b), the air blowing station S3 is provided with air blowing means 31 as a processing means for blowing air into the bag mouth of the packaging bag 10 whose mouth has been opened by the bag opening means 30 in the bag-opening station S2 to further open the bag mouth. The air blowing means 31 is provided with an air nozzle 31a, and is configured to blow air into the bag from the air nozzle 31a with the air nozzle 31a facing the bag mouth.

[0021] 6B(a), the product filling station S4 is provided with a product filling means 32 as a processing means for filling the packaging bags 10 whose mouths have been opened at the air blowing station S3 with a product. In this embodiment, two product filling means 32 for filling the two packaging bags 10 held by the four work shuttles 17A, 17B positioned at the product filling station S4 with a product are arranged side by side in the traveling direction, and the product filling station S4 is configured to be able to fill four packaging bags 10 with a product. Each product filling means 32 is provided with two filling hoppers 32a for filling the packaging bags 10 with a product supplied from a supply source (not shown), and is configured to fill a predetermined amount of product from the filling hoppers 32a into the bags with the filling hoppers 32a facing the bag mouths.

[0022] In the embodiment, a zippered bag having a known openable and closable zipper consisting of a male and female engaging portion attached so as to extend in the width direction (travel direction) is used as the packaging bag 10. As shown in Fig. 6B(b), the zipper crimping station S5 is provided with a zipper crimping means 33 as a processing means for crimping the male and female engaging portions of the zipper pre-attached to the packaging bag 10 so as to engage with each other, thereby closing the bag mouth. The sealing station S6 is provided with a sealing means 34 as a processing means for sealing the entire length of the packaging bag 10 in the width direction (travel direction) above the zipper crimped at the zipper crimping station S5.

[0023] 6B(b), the discharge station S7 is provided with the same chuck release means 28 as that provided in the bag receiving station S1, and is configured so that the packaging bag 10 falls when the chucks 15, 15 of the work shuttles 17A, 17B positioned in the discharge station S7 are opened by the chuck release means 28. The dropped packaging bag 10 is supplied to a carry-out conveyor or the like for the next process via a chute or the like.

[0024] 1, 7A and 7B, processing stations consisting of a carton receiving station K1, a product input station K2, a flap folding station K3 and a discharge station K4 are arranged in this order from upstream to downstream on the carton processing conveying path 13 in relation to the traveling direction of work shuttles 17A and 17B traveling on the carton processing conveying path 13. Processing means 36, 37 and 38 that perform predetermined processing on the cartons 11 held by the work shuttles 17A and 17B are arranged in each of the stations K1 to K4.

[0025] As shown in Fig. 1, a carton supplying means 35 is disposed outside the carton processing conveying path 13 in correspondence with the carton receiving station K1. The carton supplying means 35 supplies cartons 11, which have been formed into a box shape in a box-making section (not shown) and have an open top, between the opposing holding members 16, 16 of the first work shuttle 17A and the second work shuttle 17B, which are positioned in the carton receiving station K1 so that the holding members 16, 16 face each other in the running direction. The carton supplying means 35 of the embodiment is configured to supply four cartons 11 at a time to eight work shuttles 17A, 17B (four pairs of a first work shuttle 17A and a second work shuttle 17B) positioned in the carton receiving station K1, as shown in Fig. 7A(a). When a carton 11 is supplied between the first work shuttle 17A and the second work shuttle 17B, which are adjacent to each other so that the holding members 16, 16 face each other, both work shuttles 17A, 17B move to narrow the gap, and the opposing holding members 16, 16 hold the body 11a of the carton 11 by sandwiching it. Also, the carton receiving station K1 is provided with carton support means 36 as a processing means, which includes a support member 36a that supports the bottom surface of the carton 11 supplied between the adjacent work shuttles 17A, 17B by the carton supply means 35, and a forming member 36b that pushes and spreads rear flaps 11b extending upward from a rear panel (guide rail side) that constitutes the body 11a backward (outward) to form a shape. The carton supporting means 36 raises and lowers the supporting member 36a between a lower retracted position and a supporting position where the carton bottom surface is supported, and raises and lowers the setting member 36b between an upper retracted position and a setting position where the rear flap 11b is set.

[0026] 7A(b), a product insertion means 37 is disposed in the product insertion station K2 as a processing means for inserting products into the cartons 11 held by the work shuttles 17A, 17B. The product insertion means 37 in the embodiment includes four insertion chutes 37a aligned in the traveling direction for inserting products into the four cartons 11 held by the eight work shuttles 17A, 17B positioned in the product insertion station K2, and is configured to be able to insert products into four cartons 11 in the product insertion station K2.

[0027] 7B(a), the flap folding station K3 is provided with a flap folding means 38 as a processing means for folding inwardly the side flaps 11c, 11c extending upward from the left and right side panels constituting the body 11a of the carton 11 and for folding inwardly the rear flap 11b. The flap folding means 38 includes a movable folding member 38a for folding the upstream side flap 11c and a plurality of fixed folding guides 38b for folding the downstream side flap 11c and the rear flap 11b, and the flap folding means 38 is configured so that an insertion portion provided at the tip of the rear flap 11b is inserted into the opening of the body 11a by the folding guide 38b.

[0028] A chute (not shown) is provided in the discharge station K4 for supplying the cartons 11, which have been released from their holding by widening the gap between the adjacent first and second work shuttles 17A and 17B, to a transfer conveyor or the like for the next process. Also, in the discharge station K4, as shown in Fig. 7B(b), a guide member 39 for maintaining the folded state of the flaps 11b after being folded in the flap folding station K3 is provided at a predetermined length along the traveling direction of the work shuttles 17A and 17B.

[0029] The basic structure of the inspection shuttle 48 is the same as that of the first work shuttle 17A, so only the different parts will be explained, and the same members will be given the same reference numerals and detailed explanations will be omitted. Note that the inspection shuttle 48 can be made to have the same structure as the second work shuttle 17B, and if the inspection shuttle 48 has the same structure as the second work shuttle 17B, the shuttle that replaces the inspection shuttle 48 during the inspection operation described below will be the second work shuttle 17B.

[0030] 2, 3 and 4, in addition to the configuration of the first work shuttle 17A, the inspection shuttle 48 has a support stay 49 that extends a predetermined length inside the guide rail 18 when traveling on the guide rail 18, which is disposed on the holder 24 extending upward from the shuttle body 23, and a 360-degree camera 50 as an imaging means is disposed on the extending end of the support stay 49. In the embodiment, the support stay 49 is fixed to the holding member 16 by screws, but the fixing location of the support stay 49 is not limited to the holding member 16, and may be any location that does not interfere with the holding of the packaging bag 10 by the zipper 15. Furthermore, the support stay 49 and the 360-degree camera 50 are configured to move along a path that does not come into contact with or interfere with the various processing means 28, 30, 31, 32, 33, 34, 36, 37 and 38 when the inspection shuttle 48 travels on the guide rail 18. The 360-degree camera 50 is disposed so as to be able to capture images of the inspection target locations while the inspection shuttle 48 is traveling on the guide rail 18. In the linear transport device of the embodiment, the areas of the processing means 28, 30, 31, 32, 33, 34, 36, 37, 38 facing the inside of the guide rail 18 and the work shuttles 17A, 17B located in front of and behind the inspection shuttle 48 can be captured as inspection target locations. The 360-degree camera 50 is also configured so as to be able to capture images of the inspection shuttle itself. The 360-degree camera 50 also includes a storage unit for storing video image data captured by the camera 50.

[0031] The feed rail 40 and the retreat rail 41 are spaced apart from the guide rail 18 so that the inspection shuttle 48 and the work shuttles 17A, 17B can run while being attracted by magnetic force to the guide rail 18 with one side of their shuttle bodies 23 facing the guide rail 18, and can also run while being attracted to the rails 40, 41 with the other side of the shuttle bodies 23 facing the feed rail 40 or the retreat rail 41. By controlling the energization of the coils 18a, 40a, 41a of the guide rail 18, the feed rail 40, and the retreat rail 41, the inspection shuttle 48 of the feed rail 40 can be caused to enter the straight section 12 of the guide rail 18, the inspection shuttle 48 of the straight section 13 can be caused to retreat to the retreat rail 41, the work shuttles 17A, 17B of the straight section 13 can be caused to retreat to the retreat rail 41, and the work shuttles 17A, 17B of the feed rail 40 can be caused to enter the straight section 12 of the guide rail 18. That is, the feed rail 40 is a waiting path forming an entrance path for the inspection shuttle 48 toward the straight section 12, and the retreat rail 41 is a retreat path forming an exit path for the inspection shuttle 48 from the straight section 13. The track lengths of the feed rail 40 and the retreat rail 41 are set to lengths that allow a plurality of inspection shuttles 48 to be on standby.

[0032] As shown in Fig. 8, the coil 18a of the guide rail 18, the coil 40a of the feed rail 40, and the coil 41a of the retreat rail 41 are connected to a control unit 51 of the linear transport device so as to be able to control the energization of the coils 18a, 40a, and 41a. The control unit 51 is also connected to an operation start signal input means (inspection time setting means) 52 consisting of an operation panel such as a touch panel that can input and set various data such as the number of revolutions and time of the inspection shuttle 48 during inspection work. In the linear transport device, the entrance of the inspection shuttle 48 waiting on the feed rail 40 into the guide rail 18 and the exit of the inspection shuttle 48 from the guide rail 18 to the retreat rail 41 are set by setting the inspection time on a calendar using the operation start signal input means 52 equipped with a timing means such as a timer, which sets the device operation information such as the operating time of the transport device and the inspection date. The control unit 51 then controls the operation of the inspection shuttle 48 so that it sends the inspection shuttle 48 onto the guide rail 18 in response to an inspection start signal that is input at a specified inspection timing (for example, 12:00 and 18:00) according to the set inspection schedule, and automatically withdraws the inspection shuttle 48 from the guide rail 18 in response to an inspection end signal after the inspection shuttle 48 has traveled around the guide rail 18 for the set time or number of laps (for example, one lap).

[0033] In this embodiment, such an inspection operation control operation is automatically performed. In addition, in this embodiment, the inspection operation control operation controls the replacement operation of the first work shuttle 17A and the inspection shuttle 48 during the conveying processing work by the linear conveying device (while the work shuttles 17A and 17B are traveling) so that the first work shuttle 17A that does not hold the articles 10 and 11 is replaced with the inspection shuttle 48. Here, all the work shuttles 17A and 17B traveling on the guide rail 18 are assigned numbers that can be identified by the control unit 51, and the control unit 51 is configured to be able to recognize the current positions of the work shuttles 17A and 17B of each number. Then, when the first work shuttle 17A of the number that can be replaced with the inspection shuttle 48 arrives at a position where it can be retreated from the straight section 13 to the retreat rail 41, the control unit 51 controls the coil 18a of the guide rail 18 and the coil 41a of the retreat rail 41 to retreat the first work shuttle 17A of the number to be replaced to the retreat rail 41. Also, by controlling the coil 18a of the guide rail 18 and the coil 40a of the feed rail 40, the inspection shuttle 48 is caused to enter the straight section 12 from the feed rail 40 to the position of the first work shuttle 17A that has retracted from the guide rail 18 (a position where the positional relationship (order) with the other work shuttles 17A, 17B positioned before and after the first work shuttle 17A does not change), and an alternating operation is controlled to switch the shuttles. That is, by having the inspection shuttle 48 travel at the same position as the first work shuttle 17A that has retracted from the guide rail 18, the chuck 15 of the inspection shuttle 48 and the chuck 15 of the second work shuttle 17B can hold the packaging bag 10 during inspection by the inspection shuttle 48, so that processing work is not interrupted.

[0034] Next, the operation of the linear transport device according to the embodiment will be described.

[0035] In the bag processing conveying path 12 of the linear conveying device, when the work shuttles 17A, 17B are positioned at the bag receiving station S1, the chucks 15, 15 are opened by the chuck opening means 28 and the packaging bag 10 is supplied between the chucks 15, 15 by the bag supplying means 29. By releasing the opening of the chucks 15, 15 by the chuck opening means 28, the packaging bag 10 is held by the chucks 15, 15 with the bag mouth facing upward. Then, the work shuttles 17A, 17B holding the packaging bags 10 are moved by linear motor drive and positioned in the bag opening station S2, air blowing station S3, product filling station S4, zipper crimping station S5, sealing station S6 and discharge station S7 in that order, where predetermined processing is performed by processing means 30, 31, 32, 33, 34, 28 arranged at each station S2, S3, S4, S5, S6, S7, and the packaging bags 10 filled with the product fall from the work shuttles 17A, 17B at the discharge station S7 and are supplied to the transfer conveyor for the next process via a chute. Also, when the discharge processing of the packaging bags 10 at the discharge station S7 is completed, the empty work shuttles 17A, 17B not holding the packaging bags 10 are moved toward the carton processing conveyor path 13 by linear motor drive.

[0036] When the work shuttles 17A, 17B, which are driven by a linear motor to move from the bag processing conveyor path 12 to the carton processing conveyor path 13 via the return section 19, are positioned at the carton receiving station K1, the carton 11 is supplied by the carton supplying means 35 between the work shuttles 17A, 17B whose holding members 16, 16 face each other in the traveling direction, with the opening facing upward. The work shuttles 17A, 17B on both sides sandwiching the carton 11 move to narrow the gap between them, whereby the body 11a of the carton 11 is clamped by the holding members 16, 16. Then, the work shuttles 17A, 17B holding the cartons 11 are moved by linear motor drive and positioned at the product input station K2, then pass through the flap folding station K3 and are positioned at the discharge station K4, where predetermined processing is carried out by the processing means 37, 38 arranged at each station K2, K3, K4, and the cartons 11 filled with products drop from the work shuttles 17A, 17B at the discharge station K4 and are supplied to the transfer conveyor for the next process via a chute. Also, when the discharge processing of the cartons 11 at the discharge station K4 is completed, the work shuttles 17A, 17B not holding the cartons 11 are moved by linear motor drive toward the bag processing conveyor path 12, where they are used for the bag transport processing described above.

[0037] The control unit 51 controls the coils 18a, 41a of the guide rail 18 and the retraction rail 41 to energize in accordance with the timing when a first work shuttle 17A of a predetermined number that is traveling and not holding a carton 11 (or a packaging bag 10) (not involved in processing) reaches the installation position of the retraction rail 41, in response to an inspection start signal input at a predetermined inspection timing (for example, 12:00 and 18:00) according to the inspection schedule, and causes the first work shuttle 17A to retract to the retraction rail 41. The control unit 51 also controls the coils 40a, 18a of the feed rail 40 and the guide rail 18 to energize the inspection shuttle 48 that has been adsorbed to the feed rail 40 and is waiting, so as to enter the guide rail 18 from the feed rail 40 to the position where the retracted first work shuttle 17A will be located between the second work shuttles 17B, 17B traveling at a predetermined distance, so as to replace the retracted first work shuttle 17A. The entrance operation of the inspection shuttle 48 is performed by controlling the supply of electricity to the coil 40a of the input rail 40 to move the inspection shuttle 48 to a position where the shuttle body 23 faces the straight section 13 of the guide rail 18, and then controlling the supply of electricity to the coils 40a, 18a of the input rail 40 and the guide rail 18 to attract and adsorb the inspection shuttle 48 to the straight section 13. As a result, the inspection shuttle 48 that has moved to the straight section 13 is positioned between the running second work shuttles 17B, 17B that were positioned before and after the exited (swapped) first work shuttle 17A during the transport process by the linear transport device, and is adsorbed to the guide rail 18 to circle the loop of the guide rail 18 a predetermined number of times. When the inspection shuttle 48 travels along the guide rail 18, the 360-degree camera 50 captures images of the areas of the various processing means 28, 30, 31, 32, 33, 34, 36, 37, 38 facing the inside of the guide rail 18, as well as the work shuttles 17A, 17B located in front of and behind the inspection shuttle 48, and the inspection shuttle 48 itself, as inspection target areas, and the captured video image data is stored in a memory unit.

[0038] After the inspection shuttle 48 has traveled around the guide rail 18 a preset number of times, the control unit 51 controls the energization of the coils 18a, 41a of the guide rail 18 and the evacuation rail 41, and causes the inspection shuttle 48 to retreat from the guide rail 18 to the evacuation rail 41. The evacuation operation of the inspection shuttle 48 is performed by controlling the energization of the coils 41a, 18a of the evacuation rail 41 and the guide rail 18 at the timing when the shuttle body 23 of the inspection shuttle 48 has moved to a position facing the evacuation rail 41, and the magnetic force is switched to and attracted by the evacuation rail 41. The inspection shuttle 48 that has moved to the evacuation rail 41 is sent out downstream of the evacuation rail 41. The control unit 51 also controls the energization of the coils 40a, 18a of the input rail 40 and the guide rail 18 so that the first work shuttle 17A transferred from the retraction rail 41 to the input rail 40 enters the guide rail 18 at a predetermined timing to replace the retracted inspection shuttle 48, and return to normal transport operation. In other words, by making the replacing first work shuttle 17A enter the guide rail 18 so that the first work shuttle 17A is positioned at the position where the inspection shuttle 48 would be traveling if the inspection shuttle 48 was traveling on the guide rail 18 without retracting, the relationship between the front and rear second work shuttles 17B, 17B remains unchanged from before inspection.

[0039] The video image data stored in the memory of the 360-degree camera 50 of the inspection shuttle 48 that has been retracted to the retraction rail 41 is displayed on a display means such as a personal computer to check whether there are any signs of a malfunction occurring at the inspection target location. For example, at the bag receiving station S1, it is checked whether the chucks 15, 15 of the work shuttles 17A, 17B are properly opened and closed by the chuck releasing means 28, and at the zipper crimping station S5, it is checked whether the zipper crimping means 33 is properly crimping the zipper, thereby checking whether the processing means 28, 30, 31, 32, 33, 34, 36, 37, 38 arranged at each station S1 to S7 and K1 to K4 are operating properly. It can also be checked whether the work shuttles 17A, 17B located before and after the inspection shuttle 48 are properly positioned at each station S1 to S7 and K1 to K4. The video data can be checked by connecting the 360-degree camera 50 to a display means while it is still attached to the inspection shuttle 48, or by removing the 360-degree camera 50 from the inspection shuttle 48 and connecting it to a display means.

[0040] In the linear conveying device of the embodiment, during the conveying process, the inspection shuttle 48 is automatically inserted into the guide rail 18 at a preset inspection time and rotated at least once before being automatically withdrawn from the guide rail 18. This eliminates the need to provide a separate time for inspection, significantly improving production efficiency and addressing manual operation by an operator or forgetting to inspect. In other words, it is possible to prevent the occurrence of a situation where inspection is not performed for a long period of time, and it is possible to automatically inspect the linear conveying device including the various processing means 28, 30, 31, 32, 33, 34, 36, 37, 38 at appropriate times to check whether there is a sign of a malfunction occurring in the linear conveying device. In addition, the processing means 28, 30, 31, 32, 33, 34, 36, 37, 38 and the work shuttles 17A and 17B during operation can be imaged and inspected, thereby improving the accuracy of the inspection. Furthermore, since the operator does not need to enter the narrow inside of the guide rail 18 to perform the inspection work, it is possible to save labor. In addition, during inspection operation, the inspection shuttle 48 is configured to enter the position where the first work shuttle 17A, which has exited the guide rail 18, would be if it were running along the guide rail 18 without exiting, and inspection is performed thereat. This means that there is no need to change the distance between the inspection shuttle 48 and the second work shuttles 17B, 17B located before and after it, and inspection can be performed without affecting the conveying operation.

[0041] In the linear conveying device of the embodiment, since there is provided an input rail 40 which allows the inspection shuttle 48 to enter the straight section 12 of the loop-shaped guide rail 18, and an evacuation rail 41 which allows the inspection shuttle 48 to withdraw from the straight section 13, the inspection shuttle 48 can be smoothly sent into the guide rail 18 even during conveying operation by the work shuttles 17A, 17B. Also, the operations of the inspection shuttle 48 when entering the guide rail 18 and when withdrawing from the guide rail 18 can be appropriately timed in relation to the positions of the traveling work shuttles 17A, 17B, with the timing of entry from the input rail 40 and the timing of withdrawal to the evacuation rail 41.

[0042] Next, another embodiment will be described. In this embodiment, only the differences from the embodiment will be described, and the same members will be given the same reference numerals and the description thereof will be omitted.

[0043] 9 shows a linear conveying device according to a first alternative embodiment, in which the ends of the feed rail 40 and the retraction rail 41 opposite to the connection side with the straight sections 12, 13 are connected by an arc-shaped connection rail (connection path) 53, and configured to be able to move the shuttles 17A, 48 from the retraction rail 41 to the feed rail 40. The connection rail 53, like the feed rail 40 and the retraction rail 41, is equipped with a linear guide with a coil built in, a grooved rail and a flat rail (none of which are shown), and is configured to be able to automatically move the first work shuttle 17A and the inspection shuttle 48 retracted from the straight section 13 to the retraction rail 41 to the feed rail 40 by controlling the energization of the coils 40a, 41a of the feed rail 40, the retraction rail 41 and the connection rail 53. In other words, in the linear conveying device of the first alternative embodiment, the worker does not have to transfer the first work shuttle 17A and the inspection shuttle 48 that have been withdrawn to the evacuation rail 41 to the feed rail 40, thereby reducing labor.

[0044] 10 shows a control block of a linear conveying device according to a second alternative embodiment, in which the 360-degree camera 50 is provided with a transmission unit 54 capable of transmitting moving image data captured by the 360-degree camera 50, and the moving image data can be transmitted to a display means 55 such as an external personal computer by a wireless communication method such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). That is, in the linear conveying device according to the second alternative embodiment, moving images of the inspection shuttle 48 traveling on the guide rail 18 can be confirmed in real time.

[0045] (Example of change) The present invention is not limited to the configurations of the examples, etc., and can be modified as follows, for example. Furthermore, the configurations described in the examples can be modified in various ways within the scope of the present invention, without being limited to the following modifications. (1) In the embodiments, the 360-degree camera 50 is used as the imaging means, but various other cameras can be used. (2) In the embodiment, the video data is stored in a memory unit provided in the 360-degree camera 50, and at the end of the inspection operation, the 360-degree camera 50 is connected to a display means such as a personal computer to check the video data. However, a configuration can also be adopted in which the 360-degree camera 50 is provided with a removable memory card such as a micro SD card capable of storing video data, and at the end of the inspection operation, the memory card is removed from the 360-degree camera 50 and the video data stored on the memory card is displayed on a display means for confirmation. (3) A display device such as a personal computer can be configured to compare the current video data captured by the 360-degree camera 50 with video data under normal conditions to determine the occurrence of an abnormality or signs of a malfunction. (4) In the embodiments, the inspection operation is performed automatically in accordance with a preset inspection time, but it is also possible to adopt a configuration in which the inspection operation is started by an inspection start signal input to control unit 51 through the operator operating an operation start signal input means such as an inspection switch displayed on a touch panel, a separately provided push button switch, or any other type of changeover switch, and the inspection operation is automatically terminated by an inspection end signal generated by inspection shuttle 48 completing a predetermined period of time or a predetermined number of revolutions. (5) In the embodiments, an inspection start signal input at the inspection timing causes one work shuttle 17A to withdraw from the guide rail 18 and one inspection shuttle 48 to enter the guide rail 18. However, in a configuration in which two work shuttles 17A, 17B hold items 10, 11 as in the embodiments, a configuration can be adopted in which the paired work shuttles 17A, 17B withdraw from the guide rail 18 and the inspection shuttle 48 that replaces the work shuttle 17A (or 17B) and the work shuttle 17B (or 17A) that is paired with the inspection shuttle 48 are caused to enter the guide rail 18. (6) In the embodiments, the first work shuttle 17A of a predetermined number is retracted from the guide rail 18 by an inspection start signal input at the inspection timing, but it is also possible to adopt a configuration in which any work shuttle 17A located in a position where it can retract to the evacuation rail 41 is retracted from the guide rail 18 when the inspection start signal is input at the inspection timing. Note that in the embodiments, the inspection shuttle 48 has the same configuration as the first work shuttle 17A which holds the packaging bag 10 in cooperation with the second work shuttle 17B, so the work shuttle to be replaced with the inspection shuttle 48 is the first work shuttle 17A, but if the support stay 49 is disposed in a position where it does not interfere with the holding of the packaging bag 10 and the carton 11, the work shuttle to be replaced with the inspection shuttle 48 can be either the first or second work shuttle 17A, 17B. (7) In the embodiments, the inspection shuttle 48 is configured to perform inspection simultaneously while the linear conveying device is transporting items. However, it is also possible to adopt a configuration in which the inspection shuttle 48 is allowed to enter the guide rail 18 and perform inspection while the linear conveying device is interrupting the transport of items. (8) In the embodiments, inspection operations are performed using an inspection shuttle 48 that is equipped with a chuck 15 and holding member 16 for holding an object and can also be used as a work shuttle. However, a configuration can be adopted in which an inspection shuttle 48 that does not have a chuck 15 and holding member 16 is inserted into the guide rail 18 to perform inspections without replacing the work shuttle running on the guide rail 18. (9) In the embodiment and the like, the linear transport device is configured to transport and process two types of articles 10 and 11, but the number of articles to be transported and processed may be one type. [Explanation of symbols]

[0046] 14 Circular conveyor, 17A First work shuttle (shuttle) 17B second work shuttle (shuttle), 28 chuck release means (processing means) 30 bag opening means (processing means), 31 air blowing means (processing means) 32 Product filling means (processing means), 33 Zipper crimping means (processing means) 34 sealing means (processing means), 36 carton support means (processing means) 37 Product insertion means (processing means), 38 Flap folding means (processing means) 48 Inspection shuttle (shuttle), 50 360-degree camera (imaging means)

Claims

1. A linear conveying device comprising: a loop-shaped circular conveying path; and a plurality of shuttles that run on the circular conveying path by linear motor drive control; a plurality of processing means that perform predetermined processing on articles are provided along the circular conveying path; and the shuttles are configured to convey articles to each processing means, The shuttle is driven by a linear motor, and the shuttle is adapted to capture an image of the inspection target area using an imaging device provided on the shuttle that travels along the circular transport path. A linear transport device characterized by:

2. The circular conveying path is formed in a loop shape by straight portions parallel to each other and a return portion connecting both straight portions, a waiting path forming an approach path for a shuttle toward the straight section, and an evacuation path forming an exit path for the shuttle from the straight section, The linear conveying device according to claim 1, characterized in that, during inspection, the operation of the shuttle is controlled so that the shuttle exits from the straight section of the circular conveying path to the evacuation path and the shuttle equipped with an imaging means enters the straight section of the circular conveying path from the waiting path.

3. 3. The linear transport device according to claim 2, wherein the waiting path and the retreat path are connected to each other by a connection path on a side opposite to the connection side with the straight section.

4. An inspection time setting means is provided for setting an inspection time, A linear conveying device as described in claim 2 or 3, characterized in that when the inspection time set by the inspection time setting means arrives, the operation of the shuttle is controlled so that the shuttle exits from the straight section of the circular conveying path to the evacuation path, and a shuttle equipped with an imaging means enters the straight section of the circular conveying path from the waiting path.

5. A linear conveying device as described in claim 2 or 3, characterized in that a shuttle equipped with an imaging means is advanced from the waiting path into the straight portion of the circular conveying path to a position where the withdrawn shuttle will be traveling on the circular conveying path, so that the shuttle equipped with the imaging means replaces the shuttle that has been withdrawn from the straight portion of the circular conveying path into the evacuation path.

Images