Conveyance system

Abstract

To provide a conveyance system which allows a conveyance part body for supporting an object to be conveyed from a conveyance device to another device while suppressing structural complication.SOLUTION: A conveyance system 1 comprises a conveyance part body 90, a first conveyance device 10, a second conveyance device 20 and a transit device 50. The transit device 50 makes the conveyance part body 90 transition from the first conveyance device 10 to the second conveyance device 20. The conveyance part body 90 includes: a nut 91 engaged with a first screw shaft 11 or a second screw shaft 21; and an engagement mechanism engaging the nut 91 with the first screw shaft 11 or the second screw shaft 21. The transit device 50 includes: an engagement / disengagement unit 50B engaging the nut 91 with the first screw shaft 11 or the second screw shaft 21 in cooperation with the engagement mechanism or disengaging them; and a movement unit 50A conveying the conveyance part body 90 in the axial direction of the first screw shaft 11 or the second screw shaft 21.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] In the conveying device described in Patent Document 1, a cart is conveyed by a conveying shaft on which a coil spring is attached so that it is wound around the shaft. The convex part of the cart that engages with the coil spring bends the coil spring of the second conveying shaft, so that the cart can be transferred without aligning the phase of the screws of the first conveying shaft and the second conveying shaft. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5378167 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conveying device described in Patent Document 1, although there is no need to align the phases between the screw shafts, a screw shaft with a special structure wrapped around a coil spring is required. As a result, the structure of the conveying device that conveys the cart (the conveying unit main body) may become complicated.

[0005] The present invention has been made in light of the above-mentioned circumstances, and aims to provide a conveying system that can transfer the conveying unit main body that supports the object to be transported from one conveying device to another device while suppressing the complexity of the structure. [Means for solving the problem]

[0006] In order to achieve the above object, a conveying system according to the present invention comprises: A transport unit main body that supports the object to be transported; A first conveying device having a first screw shaft that conveys the conveying body as it rotates and a first guide that supports the conveying body so that it can be conveyed freely; A second conveying device having a second screw shaft that conveys the conveying body as it rotates and a second guide that supports the conveying body so that it can be conveyed freely; A transfer device that transfers the transport unit body from the first transport device to the second transport device, The conveying body has a nut engaged with the first screw shaft or the second screw shaft, and an engagement mechanism for engaging the nut with the first screw shaft or the second screw shaft, The transfer device has an engagement / disengagement unit that cooperates with the engagement mechanism to engage and disengage the nut with the first screw shaft or the second screw shaft, and a moving unit that transports the conveying unit main body in the axial direction of the first screw shaft or the second screw shaft.

[0007] The engagement mechanism may press the nut against the first screw shaft or the second screw shaft by a biasing means.

[0008] The nut may be a half nut formed in a half shape.

[0009] The nut may be detachably provided on the conveying unit body.

[0010] The nut may be formed from an oil-impregnating material.

[0011] The engaging / disengaging unit may be moved together with the transport body by the moving unit.

[0012] The first conveying device may include a holding portion that rotatably holds the first threaded shaft, and a support member that is installed in sliding contact with the first threaded shaft.

[0013] The first conveying device has a screw shaft cover that covers the first screw shaft, One end of the screw shaft cover may extend to a recess formed in the conveying unit body.

[0014] The transfer device may transfer the transport body from the first guide to the second guide.

[0015] A connection guide, which is integral with or separate from the first guide and the second guide, is provided at a location where the transport unit moves the transport body by the moving unit; The transport body may be supported by the connection guide so as to be freely transportable.

[0016] The moving unit has a moving part body connected to the transport part body and moving the transport part body, An auxiliary guide may be provided between the connection guide and the moving body.

[0017] The moving unit has a moving part body that moves the transport part body, A moving guide selectively connected to the first guide and the second guide may be carried by the moving portion main body.

[0018] the conveying unit body is supported by the first guide, the second guide, and the moving guide via rolling elements so as to be freely conveyed; The first guide, the second guide, and the moving guide are formed with guide grooves in which the rolling elements can roll in a conveying direction in which the conveying unit body is conveyed, The guide groove of at least one of the guides at the connection portion between the first guide and the moving guide and the connection portion between the moving guide and the second guide may be formed in a tapered shape that is open to the outside in the conveying direction.

[0019] The device further includes a movable guide for a conversion device connected to the second guide, and a conversion device for releasing the connection between the second guide and the movable guide for the conversion device, The conversion device may disengage the nut from the second threaded shaft.

[0020] A third conveying device having a third screw shaft that conveys the conveying body as it rotates, and a third guide that supports the conveying body so as to be freely conveyed and is connected to the movable guide for the conversion device, The conversion device may selectively engage the nut with the second threaded shaft and the third threaded shaft.

[0021] The conversion device may have a rotation mechanism that rotates the nut so as to selectively face the second threaded shaft and the third threaded shaft.

[0022] The conveying unit body is supported by the second guide, the third guide, and the converting device movable guide via rolling elements so as to be freely conveyed, The second guide, the third guide, and the converting device movable guide are formed with guide grooves in which the rolling elements can roll in a conveying direction in which the conveying unit body is conveyed, The guide groove of at least one of the guides at the connection portion between the second guide and the movable guide for the conversion device and the connection portion between the movable guide for the conversion device and the third guide may be formed in a tapered shape that is open to the outside in the conveying direction.

[0023] A fixing device for fixing the transport unit body during transport may be provided.

[0024] The transport body is supported by the first guide via a rolling element so as to be freely transportable, The transport body may have a fall-prevention member for preventing the rolling elements from falling off. Effect of the Invention

[0025] The present invention provides a conveying system that can transfer a conveying section main body that supports an object to be conveyed from a first conveying device to a second conversion device, which is another device, while suppressing the complexity of the structure. [Brief description of the drawings]

[0026] [Figure 1]1 is a perspective view of a transport system according to a first embodiment of the present invention. [Figure 2A] FIG. 1 is a plan view of a transport system according to a first embodiment. [Figure 2B] FIG. 1 is a plan view showing a simplified transport system according to a first embodiment. [Diagram 3] FIG. 1 is an exploded perspective view (part 1) of a transport system according to a first embodiment. [Figure 4] 1 is an exploded perspective view (part 1) of a conveying section main body according to the first embodiment. FIG. [Diagram 5] 4 is an exploded perspective view (part 2) of the transport unit main body according to the first embodiment. FIG. [Figure 6] 1 is an exploded cross-sectional view (part 1) of a conveying unit main body according to the first embodiment. [Figure 7] 4 is a perspective view (part 1) of a slider of a transport section main body according to the first embodiment. FIG. [Figure 8] 6 is a second perspective view of the slider of the transport section main body according to the first embodiment. FIG. [Figure 9] FIG. 2 is an exploded perspective view (part 2) of the transport system according to the first embodiment. [Figure 10] 1 is an exploded perspective view (part 1) of a transfer device according to a first embodiment. [Figure 11] 2 is an exploded perspective view (part 2) of the transfer device according to the first embodiment. FIG. [Figure 12] FIG. 1 is an exploded perspective view (part 1) of a conversion device according to the first embodiment. [Figure 13] 4 is an exploded cross-sectional view (part 2) of the conveying unit main body according to the first embodiment. FIG. [Figure 14] FIG. 2 is an exploded perspective view (part 2) of the conversion device according to the first embodiment. [Figure 15] 1 is a partially cut-away perspective view of a conversion device according to embodiment 1. FIG. [Figure 16] 3 is a cross-sectional view of a transfer device and a conveying section main body according to the first embodiment. FIG. [Figure 17] FIG. 2 is a perspective view (part 1) for explaining the operation of the conversion device according to the first embodiment. [Figure 18]FIG. 2 is a second perspective view for explaining the operation of the conversion device according to the first embodiment. [Figure 19] FIG. 11 is a third perspective view for explaining the operation of the conversion device according to the first embodiment. [Figure 20A] 4 is an exploded perspective view (part 3) of the transfer device according to the first embodiment. FIG. [Figure 20B] FIG. 3 is an exploded perspective view (part 3) of the conversion device according to embodiment 1. [Figure 20C] FIG. 2 is a perspective view of a fixing device and a transport unit main body according to the first embodiment. [Figure 21] FIG. 1 is a plan view (part 1) for explaining the operation of the transport system according to the first embodiment. [Figure 22] FIG. 1 is a cross-sectional view (part 1) for explaining the operation of the transfer system according to the first embodiment. [Figure 23] FIG. 2 is a second plan view illustrating the operation of the transport system according to the first embodiment. [Figure 24] FIG. 1 is a perspective view (part 1) for explaining the operation of the transport system according to the first embodiment. [Diagram 25] FIG. 2 is a second perspective view illustrating the operation of the transport system according to the first embodiment. [Figure 26] FIG. 11 is a third perspective view for explaining the operation of the transport system according to the first embodiment. [Figure 27] FIG. 2 is a second cross-sectional view for explaining the operation of the transfer system according to the first embodiment. [Figure 28] FIG. 4 is a perspective view for explaining the operation of the transport system according to the first embodiment (part 4). [Figure 29] FIG. 5 is a fifth perspective view for explaining the operation of the transport system according to the first embodiment. [Diagram 30] FIG. 11 is a plan view (part 3) for explaining the operation of the transport system according to the first embodiment. [Diagram 31] FIG. 6 is a perspective view for explaining the operation of the transport system according to the first embodiment; [Diagram 32]FIG. 11 is a third cross-sectional view for explaining the operation of the transport system according to the first embodiment. [Diagram 33] FIG. 4 is a cross-sectional view (part 4) for explaining the operation of the transfer system according to the first embodiment. [Diagram 34] FIG. 4 is a plan view (part 4) for explaining the operation of the transport system according to the first embodiment. [Diagram 35] FIG. 7 is a perspective view for explaining the operation of the transport system according to the first embodiment; [Diagram 36] FIG. 5 is a plan view (part 5) for explaining the operation of the transport system according to the first embodiment. [Figure 37] FIG. 8 is a perspective view for explaining the operation of the transport system according to the first embodiment; [Figure 38] FIG. 6 is a plan view for explaining the operation of the transport system according to the first embodiment; [Figure 39] FIG. 5 is a cross-sectional view (part 5) for explaining the operation of the transfer system according to the first embodiment. [Diagram 40] FIG. 1 is a side view (part 1) for explaining the operation of the transport system according to the first embodiment. [Diagram 41] FIG. 2 is a side view (part 2) for explaining the operation of the transport system according to the first embodiment. [Diagram 42] FIG. 11 is a side view (part 3) for explaining the operation of the transport system according to the first embodiment. [Diagram 43] FIG. 4 is a side view (part 4) for explaining the operation of the transport system according to the first embodiment. [Diagram 44] FIG. 7 is a plan view for explaining the operation of the transport system according to the first embodiment; [Diagram 45] 1A is a plan view (part 8) for explaining the operation of the transport system according to the first embodiment, and FIG. 1B is a cross-sectional view (part 6) for explaining the operation of the transport system according to the first embodiment. [Figure 46] FIG. 9 is a plan view for explaining the operation of the transport system according to the first embodiment; [Figure 47] FIG. 10 is a plan view for explaining the operation of the transport system according to the first embodiment; [Figure 48] FIG. 11 is a plan view for explaining the operation of the transport system according to the first embodiment; [Figure 49] FIG. 12 is a plan view for explaining the operation of the transport system according to the first embodiment; [Figure 50] FIG. 13 is a plan view for explaining the operation of the transport system according to the first embodiment; [Figure 51] FIG. 2 is a perspective view of the transport system with the cover attached. [Figure 52] FIG. 2 is a plan view of the transport system with the cover attached. [Figure 53] This is a cross-sectional view taken along line AA in Figure 52. [Figure 54] FIG. 4 is a diagram for explaining an effect of the transport system according to the first embodiment. [Figure 55] FIG. 13 is an exploded perspective view of a transport system according to a first modified example. [Figure 56] FIG. 11 is an exploded perspective view of a transport system according to a second modified example. [Figure 57] FIG. 11 is an exploded cross-sectional view of a conveying system according to a second modified example. [Figure 58] FIG. 11 is an exploded perspective view of a transport system according to a third modified example. [Figure 59] 13A to 13C are diagrams for explaining the effects of the transport system according to the third modified example. [Figure 60] FIG. 11 is an exploded perspective view of a transport system according to a fourth modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] Embodiment 1 Hereinafter, a transfer system 1 according to a first embodiment of the present invention will be described with reference to the drawings. For ease of understanding, XYZ coordinates will be set and referred to as appropriate.

[0028] 1 and 2A, the conveying system 1 is a device that is incorporated as part of a manufacturing line used in a factory, for example, and is used to convey objects (workpieces) to be conveyed, such as parts of industrial products. As shown in Fig. 2B and 3, the conveying system 1 includes a first conveying device 10, a second conveying device 20, a third conveying device 30, a fourth conveying device 40, transfer devices 50, 70, switching devices 60, 80, a conveying unit main body 90, and a fixing device F.

[0029] 4, the transport body 90 is a member that has a smooth mounting surface on an upper portion thereof and supports an object to be transported on the mounting surface. The transport body 90 has a nut 91, an engagement mechanism 92, a slider 93, and a mounting portion 94 for the object to be transported.

[0030] As shown in FIG. 4, the nut 91 is a part that is engaged with the first screw shaft 11 of the first conveying device 10 or the second screw shaft 21 of the second conveying device 20. The nut 91 is formed, for example, of an oil-impregnated material with good sliding properties. Specifically, the nut 91 is formed, for example, of a polyacetal (POM) material with self-lubrication. However, the present invention is not limited to this. The nut 91 may be formed of a material such as an oil-impregnated material as long as the material has good sliding properties. However, from the viewpoint of smooth rotation of the first screw shaft 11 and the second screw shaft 21 relative to the nut 91, it is preferable that the nut 91 is formed, for example, of a material with self-lubrication. In addition, in the present embodiment 1, the nut 91 is a half-split nut at least a part of which is formed in a half-split shape (a circular arc shape corresponding to the outer periphery of the first screw shaft 11 and the second screw shaft 21). However, the present invention is not limited to this. The nut 91 may be a nut other than a nut formed in a half-split shape. 5, the nut 91 is attached to a nut support member 91c by a panel 91a and a fastener 91b made of a screw or a bolt so that the female thread surface is exposed in the +X direction. The nut support member 91c is fixed to an engagement mechanism 92 of the conveyor body 90 by a fastener 91d made of a screw or a bolt. Thus, the nut 91 is detachably provided to the engagement mechanism 92 of the conveyor body 90 by removing or attaching the fastener 91b.

[0031] 5 and 6, the engagement mechanism 92 is a device that engages the nut 91 with the first screw shaft 11 or the second screw shaft 21. The engagement mechanism 92 has a housing 92a, a biasing means 92b, a moving member 92c, and a fitted plate 92d.

[0032] The housing 92a accommodates the biasing means 92b and a part of the moving member 92c.

[0033] The biasing means 92b is used to press or bias the nut 91 toward the first screw shaft 11 or the second screw shaft 21. In the present embodiment 1, the biasing means 92b is a coil spring. However, this is not limited to this. The biasing means 92b may be something other than a coil spring as long as it can press or bias the nut 91 toward the first screw shaft 11 or the second screw shaft 21. Also, in the present embodiment 1, the engagement mechanism 92 has two biasing means 92b. However, this is not limited to this. The engagement mechanism 92 may have only one biasing means 92b, or may have three or more biasing means 92b.

[0034] The moving member 92c is a rod-shaped member with the X-axis direction as its longitudinal direction. A nut support member 91c is fixed to the end of the moving member 92c on the +X side by a fastener 91d made of a screw or a bolt, a panel 91a is fixed to the nut support member 91c by a fastener 91b, and the nut 91 is fixed by being sandwiched between the nut support member 91c and the panel 91a. The moving member 92c is arranged to be movable in the X-axis direction relative to the housing 92a. The moving member 92c is arranged in the housing 92a via, for example, a sliding bearing formed of a material with good sliding properties. In the present embodiment 1, the engagement mechanism 92 has two moving members 92c in accordance with the number of the biasing means 92b.

[0035] The fitted plate 92d is fixed to the end of the movable member 92c on the -X side, and is formed to be movable together with the movable member 92c. A fitted groove 92d-1 is formed at the end of the lower side (-Z side) of the fitted plate 92d. In the present embodiment 1, the fitted groove 92d-1 penetrates in the X-axis direction and is formed by being cut out.

[0036] The slider 93 is a member supported by the first guide 12 of the first conveying device 10 via the rolling elements so as to be movable in the Y-axis direction. The slider 93 has a main body made of metal, a front return member fixed to a front end surface on the -Y side of the main body with a fastener or the like, and a rear return member fixed to a rear end surface on the +Y side of the main body with a fastener or the like. A rolling element circulation path for passing the rolling elements is formed inside the pair of return members. The main body of the slider 93 has two holes penetrating in the X-axis direction. The biasing means 92b and the moving member 92c are inserted into the holes, and the engagement mechanism 92 is attached to the slider 93. The slider 93 has a drop prevention member 93c for preventing the rolling elements from falling off, as shown in Figs. 7 and 8. The slider 93 is fixed to the conveying object placement unit 94 with fasteners such as bolts and screws, as shown in Figs. 5 and 6.

[0037] The transport object placement portion 94 is a rectangular plate-like member having a placement surface 94a parallel to the XY plane formed on the +Z side. A groove-shaped fitted portion 94b is formed on the -X side end of the transport object placement portion 94. In the first embodiment, the fitted portion 94b penetrates in the Z-axis direction and is formed by being cut out.

[0038] 3, the first conveying device 10 is a linear actuator that conveys a conveying unit main body 90 in a first direction D1, which is its axial direction (the same direction as the Y-axis direction). The first conveying device 10 has a first screw shaft 11, a first guide 12, a motor 13, a turning unit 14, a holding unit 15, and a support member 16.

[0039] The first screw shaft 11 is used to transport the transport body 90 as it rotates around the Y axis. A helical male screw groove is formed on the outer circumferential surface of the first screw shaft 11. The first screw shaft 11 engages with a nut 91 of the transport body 90. As a result, the first screw shaft 11 moves the nut 91 in the -Y direction or +Y direction as it rotates around the Y axis. As a result, the first screw shaft 11 transports the transport body 90 in the -Y direction or +Y direction.

[0040] As shown in FIG. 6, the first guide 12 is a member that supports the slider 93 via a plurality of rolling elements. As a result, the first guide 12 supports the conveying unit main body 90 having the slider 93 so as to be freely conveyed. The first guide 12 is formed, for example, by extruding aluminum. The first guide 12 has a bottom plate portion and a pair of side walls formed upward (in the +Z direction) from both sides of the bottom plate portion. A recess is provided on the inner surface of each of the side walls. For example, rod-shaped rails 12R and 12L made of steel are attached to the recess. The surface of the rail 12R (the surface on the -X side) and the surface of the rail 12L (the surface on the +X side) are configured as surfaces on which the rolling elements roll.

[0041] 3, the motor 13 has, for example, an output shaft, a rotor, a stator, an encoder, etc. Electricity is supplied to the motor 13 from a power source via an actuator cable. When electric power is supplied to the motor 13, the rotor of the motor 13 rotates. The rotational motion of the rotor is output to the output shaft.

[0042] The turning-back unit 14 is a member that connects the first screw shaft 11 and the output shaft of the motor 13. The turning-back unit 14 has, for example, a timing belt, a holding part that rotatably holds the end of the first screw shaft 11 on the +Y side, and a turning-back unit cover that houses the timing belt and the holding part inside. The timing belt of the turning-back unit 14 transmits the rotation of the output shaft of the motor 13 to the first screw shaft 11. As a result, the first screw shaft 11 rotates in conjunction with the rotation of the output shaft of the motor 13.

[0043] The holding portion 15 is disposed near the end portion on the -Y side of the first screw shaft 11. For example, a bearing is housed inside the holding portion 15. This bearing rotatably supports the end portion on the -Y side of the first screw shaft 11. In this way, the holding portion 15 holds the first screw shaft 11 rotatably.

[0044] The support member 16 is installed in sliding contact with the first screw shaft 11 at a location other than the end of the first screw shaft 11. At least the portion of the support member 16 that is in sliding contact with the first screw shaft 11 is formed of a self-lubricating material so that the first screw shaft 11 rotates smoothly. In addition, the support member 16 is formed in a shape that does not interfere with the engagement between the nut 91 and the first screw shaft 11. The support member 16 is installed to realize high-speed rotation of the first screw shaft 11 when the first screw shaft 11 is relatively long in the Y-axis direction. In the present embodiment 1, a plurality of support members 16 are installed. However, the number of support members 16 installed is not limited to this. The number of support members 16 installed in the first conveying device 10 is appropriately changed according to the length of the first screw shaft 11 in the Y-axis direction. In addition, the installation position of the support member 16 is also appropriately changed according to the length of the first screw shaft 11 in the Y-axis direction.

[0045] The second conveying device 20 has the same structure as the first conveying device 10, and is a linear actuator that conveys the conveying section main body 90 in the -Y direction or +Y direction. The second conveying device 20 has a second screw shaft 21, a second guide 22 to which rails 22R and 22L (see FIG. 33 described later) are attached, a motor 23, a turn-back unit 24, a holding section 25, and a support member 26. Each member of the second conveying device 20 is equivalent to each member of the first conveying device 10. As shown in FIG. 9, the second conveying device 20 is disposed adjacent to the -Y side of the first conveying device 10 so that the conveying section main body 90 can transfer from the first guide 12 to the second guide 22.

[0046] 2B and 3, the third conveying device 30 has a structure equivalent to that of the first conveying device 10 and the second conveying device 20. The third conveying device 30 has a third screw shaft 31, a third guide 32 to which rails 32R and 32L (see FIG. 45(B) described later) are attached, a motor 33, a turn-back unit 34, a holding section 35, and a support member 36. Each member of the third conveying device 30 is equivalent to each member of the first conveying device 10.

[0047] The fourth conveying device 40 also has the same structure as the first conveying device 10 to the third conveying device 30. The fourth conveying device 40 has a fourth screw shaft 41, a fourth guide 42 to which a pair of rails are attached, a motor 43, a turn-back unit 44, a holding section 45, and a support member 46. Each member of the fourth conveying device 40 is equivalent to each member of the first conveying device 10. The fourth conveying device 40 is disposed adjacent to the +Y side of the third conveying device 30 so that the conveying section main body 90 can transfer from the third guide 32 to the fourth guide 42.

[0048] As shown in Fig. 3, the transfer device 50 is a device that transfers the conveying section main body 90 from the first guide 12 to the second guide 22. As shown in Figs. 10 and 11, the transfer device 50 is configured by combining two linear actuators, that is, a moving unit 50A and an engaging / disengaging unit 50B.

[0049] The moving unit 50A is a linear actuator that reciprocates the slider table T1 in the first direction D1 (Y-axis direction). In addition to the slider table T1, the moving unit 50A includes, for example, a motor 51, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider to which the ball screw nut is attached, a housing 52 having a rail, and a return unit 53. The motor 51 has an output shaft, and the output shaft rotates when power is supplied to the motor 51. The return unit 53 has a timing belt that connects the ball screw shaft and the output shaft of the motor 51. The timing belt transmits the rotational motion of the output shaft of the motor 51 to the ball screw shaft. The rotational motion of the ball screw shaft is converted into linear motion of the ball screw nut. The slider table T1 is fixed to the slider. Therefore, the moving unit 50A reciprocates the slider table T1 in the -Y direction or +Y direction in accordance with the rotation of the ball screw shaft.

[0050] The engaging / disengaging unit 50B is fixed to the slider table T1 of the moving unit 50A, and is provided so as to be movable together with the slider table T1. As a result, the engaging / disengaging unit 50B is a linear actuator that reciprocates the slider table T2 in the second direction D2, which is the X-axis direction. The engaging / disengaging unit 50B cooperates with the engagement mechanism 92 of the conveying section main body 90 to engage and disengage the nut 91 with the first screw shaft 11 or the second screw shaft 21. In addition to the slider table T2, the engaging / disengaging unit 50B has, for example, a motor 56, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider to which the ball screw nut is attached, a housing 57 having a rail, and a return unit 58. The motor 56 has an output shaft, and the output shaft rotates when power is supplied to the motor 56. The return unit 58 has a belt that connects the ball screw shaft and the output shaft of the motor 56. The belt is, for example, a timing belt. By this belt, the rotational motion of the output shaft of the motor 56 is transmitted to the ball screw shaft. The rotational motion of the ball screw shaft is converted into the linear motion of the ball screw nut. A slider table T2 is fixed to the slider. Therefore, the engaging / disengaging unit 50B reciprocates the slider table T2 in the -X direction or +X direction in accordance with the rotation of the ball screw shaft.

[0051] The engaging / disengaging unit 50B further includes an engaging member 50C.

[0052] The engaging member 50C is fixed to the slider table T2 of the engaging / disengaging unit 50B, and is provided so as to be movable together with the slider table T2. The engaging member 50C has a protrusion formed thereon that fits into the fitting groove 92d-1 of the fitting plate 92d of the conveying section main body 90. The protrusion of the engaging member 50C fits into the fitting groove 92d-1, and thus the engaging / disengaging unit 50B is moved in the Y-axis direction together with the conveying section main body 90 by the moving unit 50A.

[0053] As shown in Figs. 3 and 12, the conversion device 60 is a linear actuator in which a conversion device movable guide 61 is installed on a slider table T3 via a rotation mechanism M. The conversion device 60 has a conversion device movable guide 61 connected to the second guide 22, and releases the connection between the second guide 22 and the conversion device movable guide 61. The conversion device 60 also releases the engagement of the nut 91 with the second screw shaft 21. The conversion device 60 transports the conveyor body 90 together with the conversion device movable guide 61 in the -X direction or +X direction. In addition to the conversion device movable guide 61, the conversion device 60 has a slider 62 having a slider table T3, a motor 63, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a housing 64 having a rail, a turn-back unit 65, a cable unit 69, and a rotation mechanism M.

[0054] As shown in Figs. 12 and 13, the movable guide 61 for the conversion device is a member that supports the slider 62 via a plurality of rolling elements. The movable guide 61 for the conversion device is formed, for example, by extruding aluminum. The movable guide 61 for the conversion device has a bottom plate portion and a pair of side wall portions formed upward (in the +Z direction) from both sides of the bottom plate portion. A recess is provided on the inner surface of each of the side wall portions. Rod-shaped rails 61R and 61L made of, for example, steel material are attached to the recess. The surface of the rail 61R (the surface on the -X side) and the surface of the rail 61L (the surface on the +X side) are configured as surfaces on which the rolling elements roll.

[0055] The conversion device movable guide 61 is provided so as to be movable in a direction approaching or moving away from the second guide 22 by moving together with the rotation mechanism M and the slider 62. Specifically, the conversion device movable guide 61 is coupled to the second guide 22 such that the conveying section main body 90 can be transferred from the second guide 22 by moving in the +X direction approaching the second guide 22. The conversion device movable guide 61 is formed so as to release the coupling between the second guide 22 and the conversion device movable guide 61 by moving in the -X direction moving away from the second guide 22. In this way, the conversion device 60 releases the coupling between the second guide 22 and the conversion device movable guide 61.

[0056] As shown in FIG. 14, the conversion device movable guide 61 is provided with a stopper 66 that engages with the conveying section main body 90. As shown in FIG.

[0057] The stopper 66 includes, for example, a stopper pin 66a, a bracket 66b that supports the stopper pin 66a slidably in the Z-axis direction, and a spring 66c that biases the stopper pin 66a in the +Z direction. As shown in Figs. 15 and 16, the tip of the +Z side of the stopper pin 66a of the stopper 66 is formed to be fitted into a hole 93a formed in the lower surface (-Z side surface) of the slider 93 of the conveyor body 90 when the conveyor body 90 moves to the conversion device movable guide 61. In the present embodiment 1, the stopper 66 has the stopper pin 66a. However, this is not limited to this. The stopper 66 may have something other than the stopper pin 66a as long as it is engaged with the conveyor body 90. For example, the stopper 66 may have a ball biased by a spring.

[0058] The slider 62 is supported on a rail of the housing 64 via the rolling elements so as to be movable in the X-axis direction. A ball screw nut is attached to the slider 62. This allows the slider 62 to move in the X-axis direction with the rotational motion of the ball screw shaft. The slider 62 has a main body made of metal, a front return member fixed to the front end face on the -X side of the main body with a fastener or the like, and a rear return member fixed to the rear end face on the +X side of the main body with a fastener or the like. A rolling element circulation path through which the rolling elements pass is formed inside the pair of return members.

[0059] The motor 63 has, for example, an output shaft, a rotor, a stator, an encoder, etc. Electricity is supplied to the motor 63 from a power source via an actuator cable. When electric power is supplied to the motor 63, the rotor of the motor 63 rotates. The rotational motion of the rotor is output to the output shaft, which rotates the output shaft.

[0060] The housing 64 protects the slider 62 and the ball screw by storing these components. The housing 64 has bearings to rotatably support both ends of the ball screw shaft. The housing 64 also has rails that movably support the slider 62.

[0061] The turn-back unit 65 has a belt (not shown) and a belt housing that houses the belt. The belt transmits the rotational motion of the output shaft of the motor 63 to the ball screw shaft of the ball screw. When the output shaft of the motor 63 rotates, the rotational motion of the output shaft is transmitted to the ball screw shaft via the belt. When the ball screw shaft rotates, the ball screw nut moves linearly together with the slider 62. This turn-back unit 65 is fixed to the housing 64. In addition, the motor 63 is fixed to the turn-back unit 65.

[0062] In the conversion device 60 configured as described above, as shown in FIG. 12, the movable guide 61 for the conversion device is connected to the second guide 22 of the second conveying device 20, so that the slider 93 can be transferred from the second guide 22 to the movable guide 61 for the conversion device.

[0063] 13, the conversion device 60 configured as described above is formed to move the nut 91 in a direction to approach or move it away from the second screw shaft 21. Specifically, the conversion device 60 disengages the nut 91 from the second screw shaft 21 by moving the nut 91 in the -X direction to move it away from the second screw shaft 21. Then, the conversion device 60 engages the nut 91 with the second screw shaft 21 by moving the nut 91 in the +X direction to approach the second screw shaft 21.

[0064] The cable unit 69 has a cable and a cable guide that protects the cable. The cable of the cable unit 69 is used to supply power to the rotation mechanism M. However, this is not limited thereto. The cable of the cable unit 69 may be used to supply power to something other than the rotation mechanism M. The cable guide of the cable unit 69 is used to protect the folded portion of the cable, and prevents the cable from being twisted or bent with a curvature radius smaller than a predetermined value, thereby preventing the cable from being broken. The cable guide of the cable unit 69 is made of, for example, a Cableveyor (registered trademark). One end 69a of the cable guide is fixed to the rotation mechanism M. By fixing the one end 69a of the cable guide to the rotation mechanism M, the one end 69a of the cable guide moves in the X-axis direction together with the rotation mechanism M.

[0065] As shown in Figs. 17 to 19, the rotation mechanism M is used to rotate the conversion device movable guide 61 and the conveying body 90 around the rotation axis D3. The rotation mechanism M has, for example, a motor, and rotates the conversion device movable guide 61 and the conveying body 90 with the rotation of the output shaft of the motor. However, this is not limited to this. The rotation mechanism M may have something other than a motor as long as it has a mechanism for rotating the conversion device movable guide 61 and the conveying body 90. In the present embodiment 1, the rotation mechanism M rotates the conversion device movable guide 61 and the conveying body 90 by 180 degrees at a position near the center of the movable distance L1 of the slider 62. As a result, the rotation mechanism M rotates the conveying body 90 in a direction in which the nut 91 of the conveying body 90 can engage with the third screw shaft 31 of the third conveying device 30. That is, the rotation mechanism M rotates so that the nut 91 is selectively opposed to the second screw shaft 21 and the third screw shaft 31. By means of this rotation mechanism M, the conversion device 60 selectively engages the nut 91 with the second screw shaft 21 and the third screw shaft 31.

[0066] The transfer device 70 has the same structure as the transfer device 50, and as shown in Fig. 3, transfers the transport main body 90 from the third transport device 30 to the fourth transport device 40. As shown in Fig. 20A, the transfer device 70 is configured by combining two linear actuators, a moving unit 70A and an engaging / disengaging unit 70B.

[0067] The moving unit 70A has, for example, a slider table T5, a motor 71, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider to which the ball screw nut is attached, a housing 72 having rails, and a return unit 73.

[0068] The engagement / disengagement unit 70B has, for example, in addition to the slider table T6, a motor 76, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider to which the ball screw nut is attached, a housing 77 having rails, a folding unit 78, and an engagement member 70C.

[0069] The conversion device 80 has a structure equivalent to that of the conversion device 60, and as shown in FIG. 20B, the conversion device 80 includes a movable guide 81 for the conversion device, a slider 82 having a slider table, a motor 83, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a housing 84 having a rail, a folding unit 85, a cable unit, and a rotation mechanism M.

[0070] In the transfer device 80, the transfer device movable guide 81 is connected to the fourth guide 42 of the fourth conveying device 40, so that the slider 93 can be transferred from the fourth guide 42 to the transfer device movable guide 81.

[0071] Further, a stopper 86 that engages with the conveying section main body 90 is provided on the conversion device movable guide 81 .

[0072] The stopper 86 includes, for example, a stopper pin 86a, a bracket 86b that supports the stopper pin 86a slidably in the Z-axis direction, and a spring 86c that biases the stopper pin 86a in the +Z direction. The tip of the +Z side of the stopper pin 86a of the stopper 86 is formed so as to be fitted into a hole 93a formed in the lower surface (-Z side surface) of the slider 93 of the conveyor body 90 when the conveyor body 90 moves to the conversion device movable guide 81. In the first embodiment, the stopper 86 has the stopper pin 86a. However, this is not limited to this. The stopper 86 may have something other than the stopper pin 86a as long as it is engaged with the conveyor body 90. For example, the stopper 86 may have a ball biased by a spring.

[0073] As shown in FIG. 20C, the fixing device F is used to fix the conveying unit main body 90 during conveyance. This fixing device F is an actuator that moves a fixing pin F-1 in the Z-axis direction. The fixing device F has a fixing device ball screw and is driven by a screw nut mechanism. In addition to the fixing pin F-1, the fixing device F has a guide device F-5, a moving body F-2, and a fixing device driving actuator F-4, and the fixing device driving actuator F-4 has a motor F-3, a fixing device ball screw having a ball screw shaft and a ball screw nut (not shown), and a fixing device housing that accommodates the ball screw.

[0074] The fixing pin F-1 is fixed to the guide device slider F-5b of the guide device F-5 so that its tip protrudes in the +Z direction. The tip of the fixing pin F-1 on the +Z side is formed into a shape that fits into the fitted portion 94b formed in the transport object placement portion 94 of the transport unit main body 90.

[0075] The moving body F-2 is fixed to the tip of the ball screw shaft of the fixing device driving actuator F-4, and is also fixed to the guide device slider F-5b of the guide device F-5.

[0076] The motor F-3 rotates the ball screw nut, and the ball screw shaft moves in the Z-axis direction. As the ball screw shaft moves in the Z-axis direction, the moving body F-2 and the fixing pin F-1 move in the Z-axis direction.

[0077] The motor F-3 has, for example, an output shaft, a rotor, a stator, an encoder, etc. Electricity is supplied to the motor F-3 from a power source via an actuator cable. When electric power is supplied to the motor F-3, the rotor of the motor F-3 rotates. The rotational motion of the rotor is output to the output shaft, which rotates the output shaft.

[0078] The fixing device housing is used to house and protect the various components such as the fixing device ball screw, etc. The fixing device housing also has a bearing therein to rotatably support the ball screw nut.

[0079] The rotational motion of the output shaft of the motor F-3 is transmitted to the ball screw nut of the ball screw for the fixing device by a belt (not shown). When the ball screw nut rotates, the ball screw shaft moves in the Z-axis direction.

[0080] The guide device F-5 is used to facilitate smooth movement of the fixing pin F-1 in the Z-axis direction. The guide device F-5 has, for example, a guide device slider F-5b and a base F-5a that supports the guide device slider F-5b movably in the Z-axis direction.

[0081] In the present embodiment 1, the fixing device F has a fixing device ball screw and is driven by a screw nut mechanism. However, this is not limited to this. The fixing device F may be one other than one driven by a screw nut mechanism. For example, the fixing device F may have a solenoid structure that raises the fixing pin F-1 when it is in a non-excited state or an excited state.

[0082] 1, the first conveying device 10, the second conveying device 20, the third conveying device 30, the fourth conveying device 40, the transfer devices 50, 70, the switching devices 60, 80, the conveying unit main body 90, and the fixing device F are installed on a plate-shaped base. The base is supported by a plurality of stands so that the first conveying device 10 and the conveying unit main body 90 are kept at an appropriate height from the surface on which the conveying system 1 is installed.

[0083] The operation of the transport unit main body 90 and the transport object in the transport system 1 configured as above will be described with reference to the drawings.

[0084] First, in the first conveying device 10, as shown in FIG. 2B and FIG. 3, the output shaft of the motor 13 is rotated by supplying power to the motor body of the motor 13. As shown in FIG. 21, the first screw shaft 11 also rotates by the rotation of the output shaft of the motor 13. When the first screw shaft 11 rotates, as shown in FIG. 22, the nut 91 is engaged with the first screw shaft 11, so the engagement mechanism 92 and the slider 93 move, for example, in the -Y direction. As a result, the conveying body 90 moves linearly in the -Y direction as shown in FIG. 21. At this time, as shown in FIG. 6, the slider 93 is supported by the first guide 12 via a rolling body, so that the rolling body rolls to move smoothly on the first guide 12, thereby smoothly moving the conveying body 90. Furthermore, the nut 91 is pressed against the first screw shaft 11 by the biasing force of the biasing means 92b, improving the engagement force of the nut 91 with the first screw shaft 11. Thereby, the biasing means 92b increases the efficiency of transmitting the rotational motion of the first screw shaft 11 to the nut 91.

[0085] As the conveying part main body 90 makes a linear motion in the -Y direction, as shown in Figs. 23 and 24, the conveying part main body 90 eventually moves to the vicinity of the holder 15 that supports the -Y side of the first screw shaft 11.

[0086] 25 and 26, in the engaging / disengaging unit 50B of the transfer device 50, power is supplied to the motor body of the motor 56, causing the output shaft of the motor 56 to rotate. When the output shaft of the motor 56 rotates, the ball screw shaft also rotates, and the slider table T2 moves in the -X direction. Since the engaging member 50C is fixed to the slider table T2, the engaging member 50C also moves in the -X direction, and as a result, the protruding portion of the engaging member 50C fits into the engaging groove 92d-1 of the engaging plate 92d of the conveying section main body 90.

[0087] Furthermore, when the engaging member 50C moves in the -X direction, as shown in Fig. 27, the protruding portion of the engaging member 50C fits into the fitting groove 92d-1, and the moving member 92c also moves in the -X direction against the biasing force of the biasing means 92b. Since the nut 91 is fixed to the end of the moving member 92c on the +X side, the nut 91 also moves in the -X direction as the moving member 92c moves in the -X direction. This causes the engaging / disengaging unit 50B of the transfer device 50 to release the engagement of the nut 91 with the first screw shaft 11. As a result, the engaging / disengaging unit 50B disengages the nut 91 from the first screw shaft 11.

[0088] 28 and 29, in the moving unit 50A of the transfer device 50, power is supplied to the motor body of the motor 51, causing the output shaft of the motor 51 to rotate. When the output shaft of the motor 51 rotates, the ball screw shaft also rotates, and the slider table T1 moves in the -Y direction. Since the engaging / disengaging unit 50B is fixed to the slider table T1, the engaging / disengaging unit 50B also moves in the -Y direction.

[0089] Then, the conveying body 90 also moves in the -Y direction because the protruding portion of the engaging member 50C fits into a part of the fitted plate 92d of the conveying body 90. As a result, the nut 91 moves from the position where it can engage with the first screw shaft 11 shown in Fig. 28 to the position where it can engage with the second screw shaft 21 shown in Figs. 29 and 30.

[0090] 31 and 32, in the engaging / disengaging unit 50B of the transit device 50, power is supplied to the motor body of the motor 56, so that the output shaft of the motor 56 rotates. When the output shaft of the motor 56 rotates, the ball screw shaft also rotates, and the slider table T2 moves in the +X direction opposite to the -X direction. As a result, the protruding portion of the engaging member 50C is disengaged from the fitted groove 92d-1 of the fitted plate 92d of the conveying unit body 90. Then, the moving member 92c of the engaging mechanism 92 moves in the +X direction according to the biasing force of the biasing means 92b. Since the nut 91 is fixed to the end of the moving member 92c on the +X side, the nut 91 also moves in the +X direction with the movement of the moving member 92c in the +X direction. As a result, the engaging / disengaging unit 50B of the transit device 50 engages the nut 91 with the second screw shaft 21. As a result, the engagement / disengagement unit 50B completes the engagement of the nut 91 with the second screw shaft 21.

[0091] Next, as shown in FIG. 30 and FIG. 33, in the second conveying device 20, power is supplied to the motor body of the motor 23, so that the output shaft of the motor 23 rotates. The rotation of the output shaft of the motor 23 also rotates the second screw shaft 21. When the second screw shaft 21 rotates, the nut 91 is engaged with the second screw shaft 21, so that the engagement mechanism 92 and the slider 93 move, for example, in the -Y axis direction. As a result, the conveying body 90 moves linearly in the -Y direction. At this time, as shown in FIG. 6, the slider 93 is supported by the second guide 22 via a rolling body, so that the rolling body rolls to smoothly move on the second guide 22, thereby smoothly moving the conveying body 90. Furthermore, the nut 91 is pressed against the second screw shaft 21 by the biasing force of the biasing means 92b, so that the engagement force of the nut 91 with the second screw shaft 21 is improved. Thereby, the biasing means 92b increases the efficiency of transmitting the rotational motion of the second screw shaft 21 to the nut 91.

[0092] As the transport section main body 90 makes a linear motion in the -Y direction, the transport section main body 90 eventually moves to a position where it can be fixed by the fixing device F, as shown in FIG.

[0093] Then, as shown in FIG. 35, in the fixing device F, power is supplied to the motor body of the motor F-3, causing the output shaft of the motor F-3 to rotate. As the output shaft of the motor F-3 rotates, the ball screw shaft also rotates, and the fixing pin F-1 rises. Then, the fixing pin F-1 fits into the fitting portion 94b of the transport object placement portion 94 of the transport unit main body 90. In this way, the fixing device F fixes the transport unit main body 90. With the transport unit main body 90 fixed by the fixing device F, a user or a device other than the transport system 1 performs work on the transport object (workpiece) placed on the transport unit main body 90.

[0094] When the user finishes the work, the output shaft of the motor F-3 rotates in the opposite direction (reverses), and the fixing pin F-1 descends. Then, the fixing pin F-1 comes out of the fitting portion 94b of the transport object placement portion 94 of the transport body 90, and the fixation of the transport body 90 by the fixing device F is released.

[0095] In the second conveyance device 20, the output shaft of the motor 23 and the second screw shaft 21 rotate again, as shown in Fig. 36. As shown in Figs. 37 and 38, the conveyance main body 90 performs linear motion in the -Y direction while the slider 93 moves smoothly on the second guide 22. Eventually, the slider 93 of the conveyance main body 90 moves from the second guide 22 to the conversion device movable guide 61 of the conversion device 60.

[0096] When the slider 93 of the conveying unit main body 90 moves to the movable guide 61 for the conversion device, as shown in Figs. 14, 15 and 39, the stopper pin 66a of the stopper 66 provided on the movable guide 61 for the conversion device is fitted into the hole 93a formed on the lower surface of the slider 93. This allows the conveying unit main body 90 to be fixed to the movable guide 61 for the conversion device. A stopper pressing member 93b is provided on the surface of the -Z side of the slider 93, and when the slider 93 moves in the Y-axis direction, the inclined portion on the -Y side or +Y side of the stopper pressing member 93b moves the stopper pin 66a to the -Z side against the spring 66c. Then, when the hole 93a and the stopper pin 66a match, the spring 66c pushes the stopper pin 66a up into the hole 93a and fits it in.

[0097] 40 and 41, in the conversion device 60, power is supplied to the motor body of the motor 63, thereby rotating the output shaft of the motor 63. When the output shaft of the motor 63 rotates, the rotational motion is transmitted by the belt, and the ball screw shaft also rotates. When the ball screw shaft rotates, the slider 62 moves in the -X direction. As a result, the conversion device 60 releases the engagement of the nut 91 with the second screw shaft 21. Then, the conversion device movable guide 61 moves in the -X direction together with the conveying unit body 90. As shown in FIG. 41, the conveying unit body 90 moves to a position near the center of the movable distance L1 of the slider 62 in the conversion device 60.

[0098] 41 and 42, the rotation mechanism M of the conversion device 60 rotates the conversion device movable guide 61 and the conveying body 90. As a result, the rotation mechanism M rotates the conveying body 90 from a direction in which the female thread surface of the nut 91 faces the second screw shaft 21 to a direction in which the female thread surface faces the third screw shaft 31.

[0099] 43 and 44, the conveying body 90 moves to the vicinity of the end of the -X side of the conversion device 60. When the conveying body 90 moves to the vicinity of the end of the -X side of the conversion device 60, the nut 91 engages with the third screw shaft 31 of the third conveying device 30.

[0100] When the conveying unit main body 90 engages with the third screw shaft 31 of the third conveying device 30 and the third screw shaft 31 rotates to move the conveying unit main body 90 in the +Y direction, as shown in Fig. 44, the stopper pin 66a of the stopper 66 provided on the conversion device movable guide 61 descends and comes out of the hole 93a formed in the lower surface of the slider 93. This releases the conveying unit main body 90 from the fixed state with respect to the conversion device movable guide 61.

[0101] Furthermore, when the third screw shaft 31 of the third conveying device 30 rotates, the nut 91 is engaged with the third screw shaft 31, so that the conveying body 90 moves, for example, from the conversion device movable guide 61 to the third guide 32 of the third conveying device 30, as shown in Figures 45(A) and (B). Then, the conveying body 90 is conveyed in the +Y direction while moving smoothly on the third guide 32.

[0102] As the third conveying device 30 conveys the conveying section main body 90 in the +Y direction, the conveying section main body 90 eventually moves to the vicinity of the holding section 35 that supports the +Y side of the third screw shaft 31, as shown in Fig. 46. The transfer device 70 detaches the nut 91 from the third screw shaft 31 and engages the nut 91 with the fourth screw shaft 41 of the fourth conveying device 40. By the action of this transfer device 70, the conveying section main body 90 transfers from the third conveying device 30 to the fourth conveying device 40, as shown in Fig. 47.

[0103] When the conveying section main body 90 moves to the fourth guide 42, the conveying section main body 90 is conveyed in the +Y direction by the fourth conveying device 40. Eventually, as shown in FIG. 48, the conveying section main body 90 moves from the fourth guide 42 to the conversion device movable guide 81 of the conversion device 80.

[0104] When the conveying section main body 90 moves to the conversion device movable guide 81, as shown in Fig. 49, the stopper pin 86a of the stopper 86 provided on the conversion device movable guide 81 fits into the hole 93a formed on the lower surface of the slider 93. This keeps the conveying section main body 90 fixed to the conversion device movable guide 81. Then, the conversion device 80 conveys the conveying section main body 90 together with the conversion device movable guide 81 in the +X direction.

[0105] The conveying body 90 moves to the vicinity of the end of the conversion device 80 on the +X side, and also moves to a position where it can be transferred onto the first guide 12 of the first conveying device 10. The conversion device 80 is provided with a rotation mechanism M similar to the conversion device 60, and the conveying body 90 is rotated 180° by the rotation mechanism M near the center of the movement of the conveying body 90 to the +X side, so that the nut 91 of the conveying body 90 can engage with the first screw shaft 11 of the first conveying device 10.

[0106] With the above, the transportation of the transport unit main body 90 in the transport system 1 is completed.

[0107] In the operation of transporting the transport unit main body 90 and the transport object in the transport system 1, as shown in FIG. 50, the first transport device 10 and the second transport device 20 transport the transport unit main body 90 in the -Y direction. The conversion device 60 transports the transport unit main body 90 in the -X direction. The third transport device 30 and the fourth transport device 40 transport the transport unit main body 90 in the +Y direction. The conversion device 80 transports the transport unit main body 90 in the +X direction. However, this is not limited to this. The user of the transport system 1 may cause the transport unit main body 90 to reciprocate by rotating forward and backward the screw shafts 11, 21, 31, and 41 of the transport devices 10, 20, 30, and 40 and the ball screw shafts of the conversion devices 60 and 80. Alternatively, the transport unit main body 90 may be moved in various directions depending on the application of the transport system 1.

[0108] In the conveying system 1 configured as described above, as shown in FIG. 1 and FIG. 51, each of the conveying devices 10, 20, 30, 40 has a screw shaft cover C, a motor cover, and covers for protecting other members.

[0109] The screw shaft cover C covers and protects the screw shafts 11, 21, 31, and 41. In this screw shaft cover C, one end C1 extends to a recess 95 formed in the conveying unit main body 90, as shown in Figs.

[0110] Also, as shown in FIG. 54, the first guide 12, second guide 22, third guide 32, fourth guide 42, and movable guide 61 for the conversion device, which are configured as described above, have guide grooves 12a, 22a, 32a, 42a, and 61a formed in which the rolling elements can roll in the conveying direction (Y-axis direction) in which the conveying section main body 90 is conveyed.

[0111] At the connection between the second guide 22 and the movable guide 61 for the conversion device, the guide groove 61a of the movable guide 61 for the conversion device has a tapered groove portion T that is open to the outside with respect to the conveying direction of the rolling body. In the first embodiment, the tapered groove portion T is formed in the guide groove 61a of the movable guide 61 for the conversion device. However, this is not limited to this. The tapered groove portion T may be formed in the guide groove 22a of the second guide 22 at the connection between the second guide 22 and the movable guide 61 for the conversion device. The tapered groove portion T may be formed in both the second guide 22 and the movable guide 61 for the conversion device at the connection between the second guide 22 and the movable guide 61 for the conversion device. The area where the tapered groove portion T is formed may be formed as a separate part and attached to either or both of the second guide 22 and the movable guide 61 for the conversion device.

[0112] At the connection between the conversion device movable guide 61 and the third guide 32, the guide groove 32a of the third guide 32 has a tapered groove portion T that is open to the outside with respect to the conveying direction of the rolling body. In the first embodiment, the tapered groove portion T is formed in the guide groove 32a of the third guide 32. However, this is not limited to this. The tapered groove portion T may be formed in the guide groove 61a of the conversion device movable guide 61 at the connection between the conversion device movable guide 61 and the third guide 32. The tapered groove portion T may be formed in both the conversion device movable guide 61 and the third guide 32 at the connection between the conversion device movable guide 61 and the third guide 32. The area where the tapered groove portion T is formed may be formed as a separate part and attached to either one or both of the conversion device movable guide 61 and the third guide 32.

[0113] In the conveying system 1, the tapered groove portion T is formed, which enables smooth transfer of the conveying unit main body 90 at locations such as the connection between the second guide 22 and the movable guide 61 for the conversion device, and the connection between the movable guide 61 for the conversion device and the third guide 32.

[0114] The tapered groove portion T may be applied to the connection portion between the first guide 12 and the second guide 22, and the connection portion between the third guide 32 and the fourth guide 42. In addition, the tapered groove portion T may be applied to the connection portion between the fourth guide 42 and the conversion device movable guide 81, and the connection portion between the conversion device movable guide 81 and the first guide 12, as shown in FIG.

[0115] As described above, in the conveying system 1 according to the first embodiment, as shown in Fig. 3, the first conveying device 10 has a general first screw shaft 11. Therefore, in the conveying system 1, for example, a screw shaft with a special structure wound with a coil spring can be eliminated. As a result, in the conveying system 1 according to the first embodiment, the conveying section main body 90 supporting the object to be conveyed can be transferred from the first conveying device 10 to the second conveying device 20, which is another device, while suppressing the complexity of the structure.

[0116] In the conveying system 1 according to the first embodiment, the second conveying device 20 has a general second screw shaft 21, similar to the first conveying device 10. Therefore, in the conveying system 1, for example, a screw shaft with a special structure wound with a coil spring is not required. As a result, in the conveying system 1 according to the first embodiment, the conveying unit main body 90 supporting the conveyed object can be transferred from the second conveying device 20 to the switching device 60, which is another device, while suppressing the complexity of the structure.

[0117] Furthermore, in this embodiment 1, even when the first screw shaft 11 and the second screw shaft 21 are aligned coaxially, the conveying unit main body 90 can be moved in the axial direction, that is, the Y-axis direction, without changing the positional relationship between the conveying unit main body 90 and the feed screw shaft, simply by disengaging the nut 91 from the first screw shaft 11 and the second screw shaft 21.

[0118] Moreover, the conveying system 1 according to the first embodiment is formed by combining the conveying devices 10, 20, 30, 40 and the conversion devices 60, 80. Therefore, the user can arbitrarily select the scale of the conveying system 1 by selecting the length of each screw shaft 11, 21, 31, 41 and the stroke of the conversion devices 60, 80. Therefore, a highly versatile conveying system 1 that corresponds to the usage method of the conveying system 1 can be provided.

[0119] In the first embodiment, the nut 91 is a half nut. Therefore, the conveying body 90 can be transferred from the first screw shaft 11 to the second screw shaft 21 with a simple configuration.

[0120] In the first embodiment, the nut 91 is pressed against the first screw shaft 11 or the second screw shaft 21 by the biasing means 92b as shown in Fig. 6 and Fig. 13. This makes it possible to eliminate backlash occurring between the nut 91 and the first screw shaft 11 or the second screw shaft 21. Furthermore, the nut 91 and the first screw shaft 11 or the second screw shaft 21 can be smoothly shifted from a disengaged state to an engaged state without matching the phase of the threads of the nut 91 with the phase of the threads of the first screw shaft 11 or the second screw shaft 21.

[0121] In the present embodiment 1, the nut 91 is provided detachably on the conveying body 90. This allows the user to easily replace the nut 91, and improves the efficiency of the maintenance work for the conveying body 90.

[0122] In the present embodiment 1, the nut 91 is made of a self-lubricating material. If an oil-retaining material is used instead of the self-lubricating material, the user can omit the work of oiling the conveying body 90, and the efficiency of the maintenance work for the conveying body 90 can be improved.

[0123] In the present embodiment 1, the nut 91 is a nut formed in a half-split shape as shown in Fig. 4. In contrast, for example, if the nut 91 is a nut having a circular ring shape that is not formed in a half-split shape, when the support members 16, 26 are installed in the conveying system 1, the support members 16, 26 interfere with the engagement between the nut 91 and the first screw shaft 11 or the second screw shaft 21, and it is difficult to install the support members 16, 26 that do not interfere with the engagement.

[0124] However, in the present embodiment 1, the nut 91 is a nut formed in a half-split shape. Therefore, the support members 16, 26 formed in a shape that does not interfere with the engagement between the nut 91 and the first screw shaft 11 or the second screw shaft 21 can be installed in the conveying system 1. As a result, the support members 16, 26 that slide against the first screw shaft 11 or the second screw shaft 21 can be installed at desired locations and in desired numbers, and the first screw shaft 11 or the second screw shaft 21 can be lengthened and the first screw shaft 11 or the second screw shaft 21 can be rotated at high speed.

[0125] In the first embodiment, the conveying system 1 includes a fixing device F that fixes the conveying unit main body 90 midway through conveying, as shown in Fig. 20C. By fixing the conveying unit main body 90 with the fixing device F, the accuracy of various tasks on the conveying unit main body 90 can be improved. Furthermore, since the conveying unit main body 90 can be fixed with the fixing device F as shown in Fig. 50, the power supply of each of the motors 13, 23, 33, 43 of each of the conveying devices 10, 20, 30, 40 can be turned off when various tasks are being performed on the conveying unit main body 90.

[0126] In the present embodiment 1, the movable guide 61 for the conversion device is provided with a stopper 66 that engages with the conveying body 90, as shown in Fig. 14. This makes it possible for the conveying system 1 to prevent the conveying body 90 from falling off the movable guide 61 for the conversion device when the conveying body 90 is conveyed by the conversion device 60.

[0127] In the present embodiment 1, the slider 93 of the conveyor body 90 has a fall-prevention member 93c for preventing the rolling elements from falling off, as shown in Fig. 7 and Fig. 8. Therefore, even if the conveyor body 90 falls off the first guide 12 or the second guide 22, for example, the rolling elements will not scatter. In addition, since the rolling elements will not scatter, the conveyor system 1 according to the present embodiment 1 can improve maintenance efficiency.

[0128] 53, one end C1 of the screw shaft cover C extends to a recess 95 formed in the conveying unit main body 90. Therefore, the conveying system 1 according to the present embodiment 1 can protect the first screw shaft 11 and the nut 91.

[0129] In the above-mentioned first embodiment, the transport system 1 includes one transport body 90 as shown in Fig. 21. However, this is not limited to this. As shown in Fig. 50, the transport system 1 may include two or more transport body 90. In addition, the number of transport body 90 can be appropriately changed depending on the use of the transport system 1.

[0130] In the above-mentioned first embodiment, the transport system 1 includes one fixing device F as shown in Fig. 21. However, this is not limited to this. As shown in Fig. 50, the transport system 1 may include two or more fixing devices F. The number of fixing devices F can be appropriately changed depending on the use of the transport system 1.

[0131] Although the first embodiment of the present invention has been described above, the present invention is not limited to the first embodiment.

[0132] Variation 1. In the conveyance system 1 according to the above-mentioned embodiment 1, as shown in Fig. 24 and Fig. 25, the first guide 12 is connected to the second guide 22. Then, the conveyance body 90 is moved to the connection portion between the first guide 12 and the second guide 22 by the moving unit 50A of the transit device 50. However, this is not limited to this. As in the conveyance system 1A according to the modified example 1 shown in Fig. 55, a connection guide G1 may be provided at the location where the conveyance body 90 is moved by the moving unit 50A.

[0133] As shown in FIG. 55, the connection guide G1 has an XZ cross section equivalent to that of the first guide 12 and the second guide 22, and is a member that supports the slider 93 of the conveying unit main body 90 via a plurality of rolling elements. As a result, the connection guide G1 supports the conveying unit main body 90 so as to be freely conveyed, similar to the first guide 12 and the second guide 22. The connection guide G1 is formed, for example, by extruding aluminum. The connection guide G1 has a bottom plate portion and a pair of side walls formed upward (in the +Z direction) from both sides of the bottom plate portion. A recess is provided on the inner surface of each of the side walls. For example, rod-shaped rails G1-R and G1-L (see FIG. 57) made of steel material are attached to the recess. The surface of the rail G1-R (the surface on the -X side) and the surface of the rail G1-L (the surface on the +X side) are configured as surfaces on which the rolling elements roll. The connection guide G1 is provided to facilitate a smooth transfer from the first guide 12 to the second guide 22 by the moving unit 50A of the transfer device 50. In the first modified example, the connection guide G1 is formed separately from the first guide 12 and the second guide 22. However, this is not limited to this. The connection guide G1 may be formed integrally with either the first guide 12 or the second guide 22. In this case, the connection guide G1 is configured as a part of either the first guide 12 or the second guide 22.

[0134] The above-mentioned connection guide G1 may be applied to the connection portion between the third guide 32 and the fourth guide 42 shown in FIG.

[0135] In addition, except for the points described above, the first modification is the same as or equivalent to the first embodiment.

[0136] Variation 2. The transport system 1A according to the above-mentioned modified example 1 includes a connection guide G1 as shown in Fig. 55. However, this is not limited to this. As in modified example 2 shown in Figs. 56 and 57, the transport system 1B may include an auxiliary guide G2 for suppressing bending of the connection guide G1 in addition to the connection guide G1. In this case, the transport system 1B further includes a slider S that moves on the auxiliary guide G2.

[0137] The auxiliary guide G2 is attached upside down to the bottom surface of the connection guide G1, as shown in Figures 56 and 57. The auxiliary guide G2 has the same XZ cross section as the connection guide G1. A slider S is attached to this auxiliary guide G2 from below via multiple rolling elements. A pair of rails is also attached to this auxiliary guide G2. The surfaces of the pair of rails are configured as the surfaces on which the rolling elements roll.

[0138] The slider S has the same function as the slider 93 of the transport body 90. The slider S is fixed to the slider table T1, for example, via the engaging / disengaging unit 50B, so as to move together with the slider table T1 of the transport body 54 (slider) of the moving unit 50A. However, this is not limited thereto. The slider S may be fixed directly to the slider table T1. The transport body 54 is connected to the transport body 90 via the engaging member 50C by fitting the protruding portion of the engaging member 50C into the fitting groove 92d-1 of the fitting plate 92d of the transport body 90. The transport body 54 transports the transport body 90 together with the engaging member 50C.

[0139] The above-mentioned auxiliary guide G2 may be applied to the connection portion between the third guide 32 and the fourth guide 42 shown in Fig. 3 together with the connection guide G1. In this case, the engaging / disengaging unit 70B of the transfer device 70 may have an equivalent to the moving part main body 50D that moves on the auxiliary guide G2.

[0140] In addition, except for the points described above, the second modification is the same as or equivalent to the first modification.

[0141] The conveying system 1B according to the second modification includes the auxiliary guide G2, so that the deflection of the connection guide G1 can be suppressed even if the installation interval of the lower stands (support blocks) of the first guide 12 and the second guide 22 becomes wider. This is particularly effective when conveying a heavy conveyed part.

[0142] Variation 3. In the transport system 1A according to the above-mentioned modified example 1, as shown in Fig. 55, the connection guide G1 is installed at the connection portion between the first guide 12 and the second guide 22, and does not move in the first direction D1 (Y-axis direction). However, this is not limited to this. Below, a transport system 1C according to modified example 3, which has a structure different from that of modified example 1, will be mainly described, focusing on the differences from modified example 1. Other than the points described, it is the same or equivalent to modified example 1.

[0143] As shown in Fig. 58, the conveyance system 1C has a movable guide G3 movable in a first direction D1. The movable unit 50A of the transfer device 50 has a movable body 54 (slider) that conveys the conveyance body 90 via an engagement / disengagement unit 50B. The movable guide G3 supports the slider 93 of the conveyance body 90 via a rolling body so as to be freely conveyable. The movable guide G3 is conveyed by the movable body 54, and moves in the first direction D1 so as to be selectively connected to the first guide 12 and the second guide 22.

[0144] Also, as shown in FIG. 59, the moving guide G3 is formed with a guide groove G3a in which the rolling elements can roll in the conveying direction in which the conveying unit main body 90 is conveyed. At the connection between the first guide 12 and the moving guide G3, the guide groove G3a of the moving guide G3 is formed with a tapered groove portion T that is open to the outside with respect to the conveying direction of the rolling elements. In addition, in the third modification, the tapered groove portion T is formed in the guide groove G3a of the moving guide G3. However, this is not limited to this. The tapered groove portion T may be formed in the guide groove 12a of the first guide 12 at the connection between the first guide 12 and the moving guide G3. Also, the tapered groove portion T may be formed in both the guide groove G3a of the moving guide G3 and the guide groove 12a of the first guide 12 at the connection between the first guide 12 and the moving guide G3. Also, the area where the tapered groove portion T is formed may be formed as a separate part and attached to either or both of the first guide 12 and the moving guide G3.

[0145] In addition, at the connection portion between the moving guide G3 and the second guide 22, the guide groove 22a of the second guide 22 has a tapered groove portion T that is open to the outside with respect to the conveying direction of the rolling element. In the third modification, the tapered groove portion T is formed in the guide groove 22a of the second guide 22. However, this is not limited to this. The tapered groove portion T may be formed in the guide groove G3a of the moving guide G3 at the connection portion between the moving guide G3 and the second guide 22. The tapered groove portion T may be formed in both the guide groove G3a of the moving guide G3 and the guide groove 22a of the second guide 22 at the connection portion between the moving guide G3 and the second guide 22. In addition, the portion where the tapered groove portion T is formed may be formed as a separate part and attached to either one or both of the second guide 22 and the moving guide G3.

[0146] In the conveying system 1C, the tapered groove portion T is formed, which allows smooth transfer of the conveying body 90 at locations such as the connection between the first guide 12 and the moving guide G3, and the connection between the moving guide G3 and the second guide 22.

[0147] The above-mentioned moving guide G3 may be applied to the connecting portion between the third guide 32 and the fourth guide 42 shown in FIG.

[0148] Variation 4. In the conveying system 1 according to the above-mentioned embodiment 1, the transfer device 50 transfers the conveying unit main body 90 from the first guide 12 of the first conveying device 10 to the second guide 22 of the second conveying device 20 as shown in FIG. 3. However, this is not limited to this, and the conveying unit main body 90 may be transferred from the second guide 22 of the second conveying device 20 to the guide of another conveying device 110. Specifically, as in the conveying system 1D according to the modified example 4 shown in FIG. 60, another conveying device 110 and a transfer device 120 can be added. This allows the conveying system 1D to extend the conveying distance of the conveying unit main body 90 in the Y-axis direction. In addition, by further increasing the number of conveying devices and transfer devices, the conveying distance of the conveying unit main body 90 can be easily extended without lengthening the screw shaft. As a result, in the conveying system 1D, the conveying distance of the conveying unit main body 90 can be easily extended while suppressing the deflection due to the elongation of the screw shaft.

[0149] The present invention allows various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for the purpose of explaining the present invention and do not limit the scope of the present invention. [Explanation of symbols]

[0150] 1, 1A, 1B, 1C, 1D: Transport system 10: First conveying device 11: First screw shaft 12: First Guide 12R, 12L: Rail 12a: Guide groove 13:Motor 14: Loopback unit 15: Holding part 16: Support material 20: Second conveying device 21: Second screw shaft 22: Second Guide 22R, 22L: Rail 22a: Guide groove 23: Motor 24: Loopback unit 25: Holding part 26: Support material 30: Third conveying device 31: 3rd screw shaft 32: Third Guide 32R, 32L: Rail 32a: Guide groove 33: Motor 34: Loopback unit 35: Holding part 36: Support material 40: Fourth conveying device 41: 4th screw shaft 42: 4th Guide 42a: Guide groove 43: Motor 44: Return unit 45: Holding part 46: Support material 50, 70: Transfer device 50A, 70A: Mobile unit 50B, 70B: Engagement and disengagement unit 50C, 70C: Engagement member 50D: Moving body 51, 71: Motor 52, 72: Housing 53, 73: Loopback unit 54, 74: Moving body 56, 76: Motor 57, 77: Housing 58, 78: Loopback unit 60, 80: Conversion device 61, 81: Movable guide for conversion device 61R, 61L, 81R, 81L: Rail 61a, 81a: Guide groove 62, 82: Slider 63, 83: Motor 63a, 83a: hole 64, 84: Housing 65, 85: Loopback unit 66, 86: Stopper 66a, 86a: Stopper pins 66b, 86b: Bracket 66c, 86c: Spring 69: Cable unit 69a: one end 90: Transport unit main body 91: Nut 91a: Panel 91b: Clasp 91c: Nut support member 91d: Clasp 92: Engagement mechanism 92a: Housing 92b: Biasing means 92c: Moving parts 92d: Mating plate 92d-1: Fitting groove 93: Slider 93a: Hole 93b: Stopper holding member 93c: Anti-falling parts 94: Placement section for transported objects 94a: Placement surface 94b: Mated part 95: Recess 110: Transport device 120:Transfer device F:Fixing device F-1: Fixing pin F-2: Mobile F-3: Motor F-4: Actuator for driving the fixed device F-5: Guide device F-5a: Base F-5b: Slider for guide device G1: Connection Guide G1-R, G1-L: Rail G2: Assistant Guide G3: Travel Guide G3a: Guide groove M: Rotation mechanism S:Slider T: Tapered groove part T1, T2, T3, T5, T6: Slider table C: Screw shaft cover C1: One end D1: 1st direction D2:Second direction D3: Rotation axis L1: Distance that can be moved

Claims

1. A transport unit main body that supports the object to be transported; A first conveying device having a first screw shaft that conveys the conveying body as it rotates and a first guide that supports the conveying body so that it can be conveyed freely; A second conveying device having a second screw shaft that conveys the conveying body as it rotates and a second guide that supports the conveying body so that it can be conveyed freely; A transfer device that transfers the transport unit body from the first transport device to the second transport device, The conveying body has a nut engaged with the first screw shaft or the second screw shaft, and an engagement mechanism for engaging the nut with the first screw shaft or the second screw shaft, The transfer device includes an engagement / disengagement unit that cooperates with the engagement mechanism to engage and disengage the nut with the first screw shaft or the second screw shaft, and a moving unit that transports the conveying unit main body in the axial direction of the first screw shaft or the second screw shaft. A conveying system.

2. The conveying system according to claim 1 , wherein the engagement mechanism presses the nut against the first threaded shaft or the second threaded shaft by a biasing means.

3. The transport system according to claim 1 , wherein the nut is a half nut formed in a half shape.

4. The conveying system according to claim 1 , wherein the nut is detachably provided on the conveying unit body.

5. The delivery system of claim 1 , wherein the nut is formed from an oil-impregnated material.

6. The transport system according to claim 1 , wherein the engaging / disengaging unit is moved together with the transport body by the moving unit.

7. The conveying system according to claim 1 , wherein the first conveying device has a holding portion that rotatably holds the first screw shaft, and a support member that is installed in sliding contact with the first screw shaft.

8. The first conveying device has a screw shaft cover that covers the first screw shaft, The transport system according to claim 1 , wherein one end of the screw shaft cover extends to a recess formed in the transport unit body.

9. The transportation system according to claim 1 , wherein the transfer device transfers the transport body from the first guide to the second guide.

10. A connecting guide, which is integral with or separate from the first guide and the second guide, is provided at a location where the transport unit moves the transport unit body, The transport system according to claim 9 , wherein the transport unit body is supported by the connection guide so as to be freely transportable.

11. The moving unit has a moving part body connected to the transport part body and moving the transport part body, The transport system according to claim 10 , further comprising an auxiliary guide disposed between the connection guide and the moving body.

12. The moving unit has a moving part body that moves the transport part body, The transport system according to claim 1 , wherein a moving guide selectively connected to the first guide and the second guide is transported by the moving unit body.

13. the transport body is supported by the first guide, the second guide, and the moving guide via rolling elements so as to be freely transportable; The first guide, the second guide, and the moving guide are formed with guide grooves in which the rolling elements can roll in a conveying direction in which the conveying unit main body is conveyed, The conveying system according to claim 12, wherein the guide groove of at least one of the guides at the connection portion between the first guide and the movable guide and the connection portion between the movable guide and the second guide is formed in a tapered shape that is open outward in the conveying direction.

14. a conversion device that has a movable guide for a conversion device connected to the second guide and that releases the connection between the second guide and the movable guide for the conversion device, The delivery system of claim 1 , wherein the conversion device disengages the nut from the second threaded shaft.

15. A third conveying device having a third screw shaft that conveys the conveying body as it rotates, and a third guide that supports the conveying body so as to be freely conveyed and is connected to the movable guide for the conversion device, The delivery system of claim 14 , wherein the conversion device selectively engages the nut with the second threaded shaft and the third threaded shaft.

16. The delivery system according to claim 15 , wherein the conversion device includes a rotation mechanism that rotates the nut so as to selectively face the second threaded shaft and the third threaded shaft.

17. The conveying unit body is supported by the second guide, the third guide, and the converting device movable guide via rolling elements so as to be freely conveyed, The second guide, the third guide, and the converting device movable guide are formed with guide grooves in which the rolling elements can roll in a conveying direction in which the conveying unit body is conveyed, The conveying system described in claim 15, wherein the guide groove of at least one of the guides at the connection portion between the second guide and the movable guide for the conversion device and the connection portion between the movable guide for the conversion device and the third guide is formed in a tapered shape that is open outward in the conveying direction.

18. The conveying system according to claim 1 , further comprising a fixing device that fixes the conveying unit body during conveying.

19. The transport body is supported by the first guide via a rolling element so as to be freely transportable, The transport system according to claim 1 , wherein the transport body has a fall-prevention member for preventing the rolling elements from falling off.

Images