Article conveying device

Abstract

To provide an article conveying part, which has processing parts on a conveying route and can suppress articles from stagnating.SOLUTION: An article conveying device comprises: a conveying unit having an upper surface in a planar shape; conveying shuttles that can hold articles and can move along the upper surface of the conveying unit; and a conveying mechanism that makes the conveying shuttles float from the upper surface of the conveying unit utilizing magnetic force and move along the upper surface of the conveying unit. The conveying unit has a conveying path, a protruding unit that protrudes from the conveying path and processing units. The conveying mechanism is configured to enable the conveying shuttles to move in both directions: a feeding-out direction in which the conveying shuttles are fed from the conveying path toward the processing unit; and a feeding-in direction in which the conveying shuttles are fed from the processing unit toward the conveying path. The conveying shuttle can move in both the feeding-out direction and the feeding-in direction.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an article transport device that transports articles. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a configuration using a belt conveyor has been widely known as an apparatus for transporting articles and performing processes such as inspection of the transported articles. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-119565 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a configuration using a belt conveyor, while an article is being processed, the movement of other articles is halted, causing the articles to stagnate and lengthening the time required to process the articles.

[0005] Therefore, an object of the present invention is to provide an article transport device that has a processing section for processing articles on a transport route and that can prevent articles from stagnation. [Means for solving the problem]

[0006] In order to achieve the above object, the article transport device of the present invention comprises a transport section having a planar upper surface, a transport shuttle capable of holding an article and moving along the upper surface of the transport section, and a transport mechanism that uses magnetic force to lift the transport shuttle above the upper surface of the transport section and move it along the upper surface of the transport section. In a plan view, the transport section comprises a transport path, a protrusion protruding from the transport path, and a processing section that is provided on the protrusion and performs a predetermined process on the article held by the transport shuttle. The transport mechanism has a configuration that allows the transport shuttle to move in both an outgoing direction from the transport path toward the processing section and an ingoing direction from the processing section toward the transport path, so that the transport shuttle can move in both the outgoing direction and the ingoing direction from the processing section. Effect of the Invention

[0007] According to the present invention, a processing section for processing articles is provided on a transport route, and stagnation of articles can be suppressed. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a schematic layout diagram of an article transport device. [Diagram 2] FIG. 2 is a functional block diagram of the article transport device. [Diagram 3] FIG. 2 is an exploded perspective view of an example of a first article. [Figure 4] FIG. 2 is an exploded perspective view of a first article which is another example of the first article. [Diagram 5] FIG. 2 is an exploded perspective view of an example of a second article. [Figure 6] 1 is a cross-sectional view of a transport shuttle and a transport section holding an article moving along the transport section; [Figure 7] FIG. 13 is a diagram showing the arrangement of segments of a transport section. [Figure 8] 13 is a plan view of the first transport shuttle and the segments when performing positioning in the first intermediate processing section. FIG. [Figure 9]FIG. 4 is an enlarged plan view of a first working area and a first bypass path. [Figure 10] FIG. 11 is a schematic plan view showing a state in which the first transport shuttle moves to the first processing section. [Figure 11] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the first processing section to the post-processing section. FIG. [Figure 12] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the post-processing section to the second processing section. FIG. [Figure 13] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the second processing section to the post-processing section. FIG. [Figure 14] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the post-processing section to a downstream side of the first working area in the first direction. FIG. [Figure 15] 13 is a schematic plan view showing a state in which the first transport shuttle moves to the first discharge section through the second bypass path. FIG. [Figure 16] FIG. 11 is a schematic plan view showing a state in which the first transport shuttle moves to the second processing section. [Figure 17] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the second processing section to the post-processing section. FIG. [Figure 18] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the post-processing section to the first processing section. FIG. [Figure 19] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the first processing section to the post-processing section. FIG. [Figure 20] 11 is a schematic plan view showing a state in which the first transport shuttle moves from the post-processing section to a downstream side of the first working area in the first direction. FIG. [Figure 21] FIG. 11 is a schematic plan view showing a state in which the second transport shuttle moves to the second processing section. [Figure 22] 11 is a schematic plan view showing a state in which the second transport shuttle moves from the first processing section to the post-processing section. FIG. [Figure 23] 11 is a schematic plan view showing a state in which the second transport shuttle moves from the post-processing section to the second processing section. FIG. [Figure 24]11 is a schematic plan view showing a state in which the second transport shuttle moves from the second processing section to the post-processing section. FIG. [Diagram 25] 13 is a schematic plan view showing a state in which the second transport shuttle moves along the first route of the second transport path after moving from the post-processing section to the second discharge section. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of the present invention will be described below with reference to the drawings. In this embodiment, directions are defined based on the article transport apparatus 100 shown in FIG. 1. In the article transport apparatus 100, the direction from left to right is defined as the first direction Tr1, and the direction opposite to the first direction Tr1, that is, the direction from right to left is defined as the second direction Tr2. In addition, the direction perpendicular to the first direction Tr1 and the second direction Tr2, from the first transport path 11 to the second transport path 12 is defined as the third direction Tr3, and the opposite direction is defined as the fourth direction Tr4. In the movement direction of the article Pr and the transport shuttle 2, the side that will arrive in the future with respect to the current position is defined as the downstream side. Conversely, the side that was located in the past with respect to the current position is defined as the upstream side. For example, in the article transport apparatus 100 shown in FIG. 1, the right side is the downstream side of the first direction Tr1.

[0010] <Item conveying device 100> FIG. 1 is a schematic plan view of the item transport apparatus 100. FIG. 2 is a functional block diagram of the item transport apparatus 100. The item transport apparatus 100 transports a cylindrical item (also referred to as a transported object) Pr, which is, for example, a container made of resin and is filled with a liquid content. While transporting the item Pr, the item transport apparatus 100 performs processes such as filling, attaching a lid, inspecting, printing, etc. on the item Pr. The item Pr is then transported from the discharge section 81 (82). The transported item Pr is then sent to the next process where final inspection, boxing, etc. are performed.

[0011] The article transport apparatus 100 includes a transport section 1, a transport shuttle 2, a transport mechanism 3, and a controller 4. The article transport apparatus 100 is provided with a first initial processing section 51, a second initial processing section 52, a first working area 61, and a second working area 62, which will be described later. The first initial processing section 51 and the first working area 61, and the second initial processing section 52 and the second working area 62 perform predetermined processing on articles Pr that differ in at least one of the shape of the bottom and the size of the bottom. Among the different articles Pr, an article that is processed in the first initial processing section 51 and the first working area 61 is referred to as a first article Pr, and an article that is processed in the second initial processing section 52 and the second working area 62 is referred to as a second article Ps.

[0012] <First article Pr, second article Ps> Here, an example of the first article Pr and the second article Ps will be described with reference to the drawings. Fig. 3 is an exploded perspective view of an example of the first article Pr. Fig. 4 is an exploded perspective view of another example of the first article Pr.

[0013] The first article Pr (hereinafter, referred to as Pr1) shown in Fig. 3 is cylindrical with a bottom, and is configured by attaching a first attachment member Pr3 and a second attachment member Pr4. A male screw is formed on the outer peripheral surface of an opening Pr0 at the top of the first article Pr1. The first attachment member Pr3 is a dispenser with a pump function, and has a female screw that can be screwed into the male screw formed on the outer peripheral surface of the opening Pr0. The second attachment member Pr4 is a member that covers a pressed-down portion provided at the upper end of the first attachment member Pr3, and is attached by pressing it in so that its inner peripheral surface comes into contact with the outer peripheral surface of the first attachment member Pr3.

[0014] The first object Pr (hereinafter referred to as Pr2) shown in Fig. 4 is cylindrical with a bottom, and is configured by attaching a first attachment member Pr5 and a second attachment member Pr6. The first attachment member Pr5 is an inner stopper with a spout, and is attached by being pressed into the opening Pr0 at the top of the first object Pr so that its outer circumferential surface comes into contact with the inner circumferential surface of the opening Pr0. The second attachment member Pr6 is a lid member attached to cover the first attachment member Pr5, which is the inner stopper. The second attachment member Pr6 has a female thread on its inner circumferential surface that can be screwed into the male thread formed on the outer circumferential surface of the opening Pr0, and is attached to the opening Pr0 by screwing it in.

[0015] The first object Pr1 and the first object Pr2 have bottoms that are circular and have the same outer diameter. Therefore, the first object holding section 221 of the first conveying shuttle 201 can hold both the first object Pr1 and the first object Pr2. Note that the conveying shuttle 2 that holds the first object Pr may be referred to as the first conveying shuttle 201, and the conveying shuttle 2 that holds the second object Ps may be referred to as the second conveying shuttle 202.

[0016] The first item Pr (Pr1, Pr2) has a first mounting member Pr3 (Pr5) and a second mounting member Pr4 (Pr6), and is configured to be attached by screwing one and pushing the other in. The first item Pr is shown separately as the first item Pr1 and the first item Pr2 as necessary. In other words, when there is no need to show them separately, both first items Pr1 and Pr2 are collectively shown as the first item Pr.

[0017] Fig. 5 is an exploded perspective view of an example of the second object Ps. As shown in Fig. 5, unlike the first objects Pr (Pr1, Pr2), the second object Ps is cylindrical with a square bottom shape with rounded corners. Therefore, the second object Ps is held by a second object holding section 222 (to be described later) of a second conveying shuttle 202 (to be described later) different from the first conveying shuttle 201 and conveyed through the conveying section 1.

[0018] The second object Ps is configured by attaching a first mounting member Ps1 and a second mounting member Ps2. A first left-handed male thread Sc1 and a second right-handed male thread Sc2 are formed below the first male thread Sc1 on the outer peripheral surface of the opening Ps0 of the second object Ps.

[0019] The first attachment member Ps1 is a stopper having a spout, and is attached by screwing a female screw that can be screwed into the first male screw Sc1 into the first male screw Sc1. The second attachment member Ps2 is a cover member that is attached to cover the first attachment member Ps1, and is attached by screwing a female screw that can be screwed into the second male screw Sc2 into the second male screw Sc2. The second attachment member Ps2 is cylindrical with a square top surface with rounded corners.

[0020] In the second article Ps shown in Fig. 5, the first mounting member Ps1 is a left-handed thread and the second mounting member Ps2 is a right-handed thread, but this is not limited to this. For example, the inner first mounting member Ps1 may be a right-handed thread and the outer second mounting member Ps2 may be a left-handed thread. In addition, both the first mounting member Ps1 and the second mounting member Ps2 may be left-handed or right-handed.

[0021] <Controller 4> Here, the controller 4 will be described in detail. As shown in Fig. 2, the controller 4 has an arithmetic circuit 41 and a memory circuit 42. The arithmetic circuit 41 is a circuit for processing various information, and has arithmetic circuits such as a CPU and an MPU. In addition, the transport mechanism 3 is connected to the controller 4, and the controller 4 controls the transport mechanism 3 based on the processing results.

[0022] The storage circuit 42 is a circuit that includes or is connected to semiconductor memories such as ROM and RAM, portable memories such as flash memories, and storage media such as hard disks. Various programs such as control programs or processing programs may be stored in the storage circuit 42, and the program corresponding to the processing may be called up as necessary and run by the arithmetic circuit 41 to perform the processing. The elements connected to the controller 4 and the control thereof will be explained when explaining each element.

[0023] <Transportation section 1> The conveying section 1 will now be described in detail. Fig. 6 is a cross-sectional view of the conveying section 1 and the conveying shuttle 2 holding an article Pr moving along the conveying section 1. Fig. 7 is a diagram showing the arrangement of the segments 10 of the conveying section 1. As shown in Figs. 1 and 7, the conveying section 1 has a first conveying path 11, a second conveying path 12, a first connecting path 131, a second connecting path 132, a first connecting path 141, a second connecting path 142, and a plurality of protrusions 15.

[0024] <First conveying path 11, second conveying path 12> 1 and 7, the first conveying path 11 and the second conveying path 12 are linear and extend in a first direction Tr1. In a plan view, the first conveying path 11 and the second conveying path 12 are arranged side by side in a direction intersecting the first direction Tr1, which is a third direction Tr3 in this embodiment. In the conveying section 1 of the item conveying apparatus 100 of this embodiment, the first conveying path 11 and the second conveying path 12 are arranged to be parallel to each other.

[0025] The upper surface of the first transport path 11 and the upper surface of the second transport path 12 are large enough in plan view for the transport shuttle 2 moving in the first direction Tr1 and the transport shuttle 2 moving in the second direction Tr2 to pass each other. In other words, the first transport path 11 and the second transport path 12 have a width that allows the transport shuttle 2 to be arranged in the third direction Tr3 perpendicular to the first direction Tr1.

[0026] The second transport path 12 is provided with a first preliminary processing unit 181 and a second preliminary processing unit 182. The first transport path 11 is provided with a first initial processing unit 51, a second initial processing unit 52, a post-processing unit 53, a first working area 61, and a second working area 62. The first communication path 131 is further provided with a third preliminary processing unit 183. The first preliminary processing unit 181, the second preliminary processing unit 182, the third preliminary processing unit 183, the first initial processing unit 51, the second initial processing unit 52, the post-processing unit 53, the first working area 61, and the second working area 62 will be described in detail later.

[0027] <First connecting passage 131, second connecting passage 132> 1 and 7, the first communication path 131 extends in a third direction Tr3 (fourth direction Tr4) intersecting (orthogonal) with the first direction Tr1, and connects the upstream ends of the first conveying path 11 and the second conveying path 12 in the first direction Tr1. The second communication path 132 extends in the third direction Tr3 (fourth direction Tr4) intersecting (orthogonal) with the first direction Tr1, and connects the downstream ends of the first conveying path 11 and the second conveying path 12 in the first direction Tr1.

[0028] The upper surfaces of the first connecting path 131 and the second connecting path 132 are configured to be flush with the upper surfaces of the first transport path 11 and the second transport path 12. This allows the transport shuttle 2 to move from the first transport path 11 to the first connecting path 131 or the second connecting path 132, or vice versa. Also, the transport shuttle 2 can move from the second transport path 12 to the first connecting path 131 or the second connecting path 132, or vice versa.

[0029] The upper surface of the first communication path 131 and the upper surface of the second communication path 132 are large enough in plan view for the transport shuttle 2 moving in the third direction Tr3 and the transport shuttle 2 moving in the fourth direction Tr4 to pass each other. In other words, the first communication path 131 and the second communication path 132 have a width that allows the transport shuttles 2 to be arranged in the first direction Tr1.

[0030] In the conveying section 1, a conveying route 16 is formed by connecting the first conveying path 11, the first connecting path 131, the second conveying path 12, and the second connecting path 132 in a circular manner in this order. The conveying route 16 has a first route 161 and a second route 162 arranged side by side in a direction intersecting the circumferential direction. In the conveying route 16 in this embodiment, the first route 161 is an outer circumferential circular path, and the second route 162 is an inner circumferential circular path. In the following description, for example, a portion constituting the first route 161 of the first conveying path 11 may be referred to as the first route 161 of the first conveying path 11. In addition, the second conveying path 12, the first connecting path 131, and the second connecting path 132 may be referred to in the same manner. In addition, in configurations other than these, the first route 161 or the second route 162 may be referred to, but the same applies in that case.

[0031] <First connecting path 141, second connecting path 142> 1 and 7, to explain further, the first connection path 141 extends in the third direction from the upstream side of the first working area 61 of the first transport path 11 in the first direction Tr1 toward the second transport path 12. Moreover, the second connection path 142 extends in the third direction from between the first working area 61 and the second working area 62 of the first transport path 11 toward the second transport path 12. The first connection path 141 and the second connection path 142 are routes that connect the first transport path 11 and the second transport path 12.

[0032] The upper surface of the first connection path 141 and the upper surface of the second connection path 142 are both configured to be flush with the upper surfaces of the first transport path 11 and the second transport path 11. This allows the transport shuttle 2 to move from the first transport path 11 to the second transport path 12 or vice versa via the first connection path 141 and the second connection path 142.

[0033] In the following description, as shown in Fig. 7 etc., the portion where the first connection path 141 connects to the first transport path 11 is referred to as a first connection part P1, and the portion where it connects to the second transport path 12 is referred to as a second connection part P2. Also, the portion where the second connection path 142 connects to the first transport path 11 is referred to as a third connection part P3, and the portion where it connects to the second transport path 12 is referred to as a fourth connection part P4. Furthermore, the portion where the second communication path 132 connects to the first transport path 11 is referred to as a fifth connection part P5, and the portion where it connects to the second transport path 12 is referred to as a sixth connection part P6.

[0034] The upper surface of the first connection path 141 and the upper surface of the second connection path 142 are large enough in plan view to allow the transport shuttles 2 moving in the third direction Tr3 or the fourth direction Tr4 to pass each other. In other words, the first connection path 141 and the second connection path 142 have a width that allows the transport shuttles 2 to be arranged in the first direction Tr1.

[0035] The protrusion 15 extends from the first transport path 11 and the second transport path 12 in a direction intersecting (orthogonal to) the first direction Tr1. The protrusion 15 is configured to be flush with the upper surface of the first transport path 11 and the upper surface of the second transport path 12. This allows the transport shuttle 2 to move from the first transport path 11 or the second transport path 12 to the protrusion 15 or vice versa. For example, a first initial processing unit 51 and the like are disposed on the protrusion 15. The protrusion 15 has a width that allows the transport shuttles 2 to move side by side in opposite directions at the same time.

[0036] The conveying section 1 is divided into segments 10. In the conveying section 1 of this embodiment, the segments 10 are square in plan view. The segments 10 are at least wide enough to arrange the conveying shuttle 2 side by side in the first direction Tr1 and the third direction Tr3. The conveying section 1 is configured by connecting the segments 10, so that the length of the conveying section 1 can be easily adjusted and the shape of the conveying section 1 can also be easily changed. The first conveying path 11, the second conveying path 12, the first connecting path 131, the second connecting path 132, the first connecting path 141, the second connecting path 142 and the protruding portion 15 are all configured by the segments 10. The protruding portion 15 may be configured by one segment 10 or by multiple segments 10.

[0037] 6, the segment 10 has a plate portion 101 and an accessory housing portion 102. The plate portion 101 is a flat member and is made of a material that is not magnetized (non-magnetic material), such as resin or aluminum. An upper surface 103 of the plate portion 101 is a surface that directly faces the transport shuttle 2 that moves along the transport section 1.

[0038] The auxiliary device housing section 102 is disposed below the plate section 101. The auxiliary device housing section 102 houses a levitation coil 311, a movement coil 312, and a driver circuit 33 of an electromagnet 31 of the transport mechanism 3, which will be described later. In the segment 10, the electromagnet 31 is disposed so as to be able to form a magnetic field together with a permanent magnet 32, which will be described later, of the transport shuttle 2 located above the upper surface 103 of the plate section 101 of the segment 10. Note that the segment 10 shown in FIG. 6 is a schematic diagram, and the illustration of the levitation coil 311, the movement coil 312, and the driver circuit 33 may differ from the actual arrangement.

[0039] <First loading section 71, second loading section 72> As shown in FIGS. 1 and 7, the first loading section 71 and the second loading section 72 are provided on the protruding section 15 that protrudes from the second conveying path 12. The first loading section 71 is disposed downstream of the second loading section 72 in the second direction Tr2. The first loading section 71 inserts a first item Pr into the first item holding section 221 of the first conveying shuttle 201, and carries the first item Pr into the item conveying device 100. The second loading section 72 inserts a second item Ps into the second item holding section 222 of the second conveying shuttle 202, and carries the second item Ps into the item conveying device 100.

[0040] In addition, the movement speed of the transport shuttle 2 in the first carry-in section 71 and the second carry-in section 72 is slower than the movement speed when the transport shuttle 2 steadily moves through the second transport path 12. In the first carry-in section 71 and the second carry-in section 72, the transport shuttle 2 is decelerated. The first carry-in section 71 and the second carry-in section 72 are each composed of at least two or more segments 10.

[0041] <First conveying section 81, second conveying section 82> 1 and 7, the first discharge section 81 and the second discharge section 82 are provided on a protruding portion 15 that protrudes from the second communication path 132. The second discharge section 82 is provided on a protruding portion 15 that protrudes from the center of the second communication path 132.

[0042] The second transport shuttle 202 passes through a first bypass path 171 of a bypass path 17 described later, thereby bypassing the first working area 61 and reaching the second working area 62. The second item Ps held by the second transport shuttle 202 undergoes a predetermined process in the second working area 62, and reaches the second discharge section 82 via a first route 161 of the second connecting path 132. The second transport shuttle 202 holding the second item Ps is sent into the second discharge section 82, and the second item Ps is discharged from the item transport device 100 to the outside, for example, to the next process.

[0043] The first discharge section 81 is provided at a protruding portion that protrudes from a connection portion of the second connection path 132 with the second conveying path 12. The first conveying shuttle 201 holding the first item Pr is sent into the first discharge section 81, and the first item Pr is conveyed out of the item conveying device 100 to the outside, for example, to the next process.

[0044] The first transport shuttle 201 reaches the first working area 61. In the first working area 61, a predetermined process is carried out on the first item Pr held by the first transport shuttle 201. Then, the first transport shuttle 201 holding the first item Pr that has been processed in the first working area 61 can reach the first discharge section 81 through a second bypass path 172 of the bypass path 17, which will be described later.

[0045] As shown in Fig. 7, the first discharge part 81 is formed on a protruding part 15 composed of three segments 10. This configuration is for arranging the first discharge part 81 at a certain distance from the second discharge part 82 in the third direction Tr3 and for aligning the position in the first direction Tr1, but is not limited to this configuration. For example, when the position with the second discharge part 82 can be aligned or when the relative position with the second discharge part 82 does not need to be taken into consideration, the first discharge part 81 may be provided on a protruding part 15 composed of one segment 10.

[0046] <First preliminary processing unit 181, second preliminary processing unit 182, and third preliminary processing unit 183> 1 and 7, in a plan view, the first preliminary processing unit 181 and the second preliminary processing unit 182 are provided on the second transport path 12. The second preliminary processing unit 182 is disposed downstream of the first carry-in unit 71 in the second direction Tr2. The first preliminary processing unit 181 is disposed downstream of the second preliminary processing unit 182 in the second direction Tr2.

[0047] The second preliminary processing device 182 is provided with a second preliminary processing device Pa2. In the article transport apparatus 100, the second preliminary processing device Pa2 cleans the second article Ps held by the second transport shuttle 202 by blowing de-ionizing air into the inside of the second article Ps held by the second transport shuttle 202 and collecting dust and other particles inside. Cleaning is performed on the second article Ps held by the second transport shuttle 202 stopped on the second route 162 of the second preliminary processing device 182. As shown in FIG. 7, the second preliminary processing device 182 is provided at the center of the segment 10 in the second direction Tr2, but is not limited to this and may be provided at a position shifted in the second direction Tr2. This is determined by the arrangement position of the second preliminary processing device Pa2.

[0048] The first preliminary processing device 181 is provided with a first preliminary processing device Pa1. The first preliminary processing device Pa1 cleans the first article Pr held by the first transport shuttle 201 by blowing neutralizing air into the inside of the first article Pr and collecting dust and the like inside. Cleaning is performed on the first article Pr held by the first transport shuttle 201 stopped on the second route 162 of the first preliminary processing device 181. As shown in FIG. 7, the first preliminary processing device 181 is provided at the center of the segment 10 in the second direction Tr2, but is not limited to this and may be at a position shifted in the second direction Tr2. This is determined by the arrangement position of the first preliminary processing device Pa1.

[0049] If the first preliminary processing device Pa1 or the second preliminary processing device Pa2 is configured to be capable of cleaning both the first object Pr and the second object Ps, the first preliminary processing device 181 and the second preliminary processing device 182 may be integrated into one. In addition, in the object conveying apparatus 100 of this embodiment, the first preliminary processing device 181 and the second preliminary processing device 182 are processing devices that perform a process of cleaning objects (particularly the inside) with air, but are not limited to this.

[0050] The third preliminary processing device 183 is provided in the first communication path 131. A third preliminary processing device Pm is disposed in the third preliminary processing device 183. In the item conveying apparatus 100, the third preliminary processing device Pm executes a process of injecting hard balls, for example made of stainless steel, into the inside of the first item Pr or the second item Ps. The hard balls assist in stirring the contents contained in the first item Pr and the second item Ps. The process of inserting the hard balls from the opening can be performed regardless of the shape, size, etc. of the item, and therefore can be performed by the third preliminary processing device Pm, which is capable of common processing.

[0051] As shown in Figures 1 and 7, in the third preliminary processing device 183, the transport shuttle 2 (201, 202) is stopped at a portion straddling the first route 161 and the second route 162, that is, at the center of the segment 10. Then, a common process is executed in which hard balls are injected from the third preliminary processing device Pm into the first object Pr and the second object Ps. Note that, in this embodiment, the transport shuttle 2 (201, 202) is stopped at the center of the segment 10, but this is not limited thereto, and it may be stopped on the first route 161 or the second route 162.

[0052] Depending on the characteristics of the article and the contents, the hard balls may not be inserted. In this case, the transport shuttles may pass through without being processed. For example, if the hard balls are inserted into the first article Pr and the hard balls are not inserted into the second article Ps, the first transport shuttle 201 is stopped at the third preliminary processing unit 183, and a process of inserting the hard balls into the first article Pr is executed. The second transport shuttle 202 may pass through the third preliminary processing unit 183. In this case, in the segment 10 where the third preliminary processing unit 183 is located, the first transport shuttle 201 may be stopped at the second route 162, and a process of inserting the hard balls into the first article Pr is executed, and the second transport shuttle 202 may pass through the third preliminary processing unit 183 via the first route 161. In this way, it is possible to prevent the transport shuttle 2 (201, 202) from stagnation. In addition, in the article transport device 100, the third preliminary processing unit 183 executes a process of inserting the hard balls, but is not limited to this.

[0053] <First initial processing unit 51, second initial processing unit 52, post-processing unit 53> In a plan view, the first initial processing section 51 and the second initial processing section 52 are provided on a protruding section 15 that protrudes from the first transport path 11. In this embodiment, the protruding section 15 is formed of one segment 10, but may be formed of a plurality of segments 10.

[0054] In the item transport apparatus 100 of this embodiment, the first initial processing unit 51 is provided on a protruding portion 15 that protrudes from a segment 10 arranged at the upstream end of the first transport path 11 in the first direction Tr1. A first initial processing device Pb1 is disposed in the first initial processing unit 51.

[0055] The first initial processing device Pb1 executes a process of filling the first storage object through an opening at the top of the first object Pr held by the first conveying shuttle 201. The first conveying path 11 is formed with an outflow path 511 for moving the first conveying shuttle 201 to the first initial processing device 51, and an inflow path 512 for moving the first conveying shuttle 201 from the first initial processing device 51 to the first conveying path 11.

[0056] The outflow path 511 and the inflow path 512 are provided on the first route 161. A second route 162 is provided adjacent to the outflow path 511 and the inflow path 512. When the first transport shuttle 201 is waiting on the outflow path 511, the second transport shuttle 202 can pass through the first initial processing unit 51 via the second route 162.

[0057] Further, a second initial processing section 52 is provided on a protruding section 15 protruding from a segment 10 downstream in the first direction Tr1 from the protruding section 15 on which the first initial processing section 51 of the first conveying path 11 is provided (see FIG. 7). A second initial processing device Pb2 is disposed on the second initial processing section 52. The second initial processing device Pb2 executes a process of filling the second contents from an opening at the top of the second item Ps held by the second conveying shuttle 202. The first conveying path 11 is formed with an outflow path 521 for moving the second conveying shuttle 202 to the second initial processing section 52, and an inflow path 522 for moving the second conveying shuttle 202 from the second initial processing section 52 to the first conveying path 11.

[0058] The outflow path 521 and the inflow path 522 are provided on the first route 161. A second route 162 is provided adjacent to the outflow path 521 and the inflow path 522. When the second transport shuttle 202 is waiting on the outflow path 521, the first transport shuttle 201 can pass through the second initial processing unit 52 via the second route 162.

[0059] The processing in the first initial processing section 51 and the second initial processing section 52 is not limited to filling of the contents. The first initial processing section 51 is provided on the protruding section 15 protruding from the segment 10 at the upstream end of the first conveying path 11 in the first direction Tr1, but is not limited to this and is not limited to the end of the first conveying path 11. The first initial processing section 51 is formed on the protruding section 15 protruding from the segment 10 at the upstream end of the first conveying path 11 in the first direction Tr1, so that the first conveying path 11 can be shortened.

[0060] The post-processing unit 53 is disposed downstream of the second initial processing unit 52 in the first direction Tr1. The post-processing unit 53 performs an inspection of the first object Pr after processing by the first initial processing unit 51 or an inspection of the second object Ps after processing by the second initial processing unit 52. The post-processing unit 53 is provided with an initial inspection device Pb3 that performs an inspection of the presence or absence of leakage (dripping) of the first contained object from the opening of the first object Pr and an inspection of the presence or absence of leakage (dripping) of the second contained object from the opening of the second object Ps. The initial inspection device Pb3 inspects the openings of the first object Pr and the second object Ps that are disposed across the first route 161 and the second route 162. Note that the post-processing unit 53 is not limited to inspection of dripping, and may be configured to inspect whether the processing in the first initial processing unit 51 and the second initial processing unit 52 is good or bad. In addition, the post-processing performed after the first initial processing unit 51 and the second initial processing unit 52 is not limited to inspection, and may be configured to perform a separate process.

[0061] Further, the post-processing unit 53 inspects the article Pr held by the transport shuttle 2 located in the portion straddling the first route 161 and the second route 162 of the first transport path 11, that is, in the center of the segment 10, but is not limited to this. For example, the position where the inspection is performed may be on the first route 161 or the second route 162.

[0062] <First work area 61, second work area 62> In the first transport path 11, the first working area 61 is disposed downstream in the first direction Tr1 of the second initial processing area 52. Also, the second working area 62 is disposed downstream in the first direction Tr1 of the first working area 61. In other words, the transport shuttle 2 moves in the first direction Tr1 through the first initial processing area 51, the second initial processing area 52, the first working area 61, and the second working area 62 in this order.

[0063] The first working area 61 has a first processing section 611, a second processing section 612, and a post-processing section 613. The first processing section 611 and the second processing section 612 are provided on a protruding section 15 protruding from the first conveying path 11 so as to connect to the first route 161 of the first conveying path 11. A first processing device Pc1 is provided in the first processing section 611, and a second processing device Pc2 is provided in the second processing section 612.

[0064] The first processing device Pc1 performs a process of attaching the first attachment member Pr3 to the first object Pr. In the object conveying device 100, the first processing device Pc1 performs a process of screwing the first attachment member Pr3 into the opening Pr0 of the first object Pr. The first processing unit 611 is performed on the first object Pr held by the first conveying shuttle 201 located at the center of the segment 10 of the protrusion 15. However, this is not limited to this, and any location can be adopted where the processing of the first object Pr by the first processing device Pc1 can be stably and reliably performed.

[0065] In the item transport apparatus 100, the second processing device Pc2 performs a process of pushing the second attachment member Pr4 into the opening Pr0 of the first item Pr to attach it. The second processing device 612 is performed on the second item Ps held by the first transport shuttle 201 located in the center of the segment 10 of the protrusion 15. However, this is not limited to this, and any location can be adopted where the processing of the second item Ps by the second processing device Pc2 is stable and reliable.

[0066] In this embodiment, the second mounting member Pr4 is attached to the first mounting member Pr3, but the second mounting member Pr4 may be attached to the opening Pr0 or in the vicinity thereof.

[0067] The post-processing unit 613 is disposed in the middle between the first processing unit 611 and the second processing unit 612 along the first direction Tr1. An example of a process executed by the post-processing unit 613 is an inspection process. That is, the post-processing unit 613 is disposed with a post-processing unit Pc3. More specifically, the post-processing unit Pc3 inspects the attachment state of the first attachment member Pr3 to the first item Pr, and also inspects the attachment state of the second attachment member Pr4 to the first attachment member Pr3.

[0068] The controller 4 moves the transport shuttle 2 to a position where the first article Pr straddles the first route 161 and the second route 162 in the post-processing unit 613, and performs positioning between the first article Pr and the post-processing unit Pc3. The controller 4 stores the pass / fail judgment result in the memory circuit 42 together with the individual identification information If of the transport shuttle 2.

[0069] The post-processing device Pc3 inspects the attachment state of at least one of the first attachment member Pr3 and the second attachment member Pr4 to the first item Pr held by the transport shuttle 2 stopped at a position straddling the first route 161 and the second route 162. The post-processing device Pc3 employs a configuration in which the attachment state is inspected by, for example, capturing images of the first item Pr and the first attachment member Pr3 and / or the second attachment member Pr4 from the top and sides and processing the captured image data.

[0070] In the post-processing unit 613, the first transport shuttle 201 is configured to stop at a position straddling the first route 161 and the second route for inspection, but is not limited thereto, and may be configured to stop on the first route 161 or on the first route 162 for inspection. Any location can be adopted where the inspection of the first item Pr by the post-processing unit Pc3 can be performed stably and reliably.

[0071] When the post-processing unit 613 performs the inspection, the transport mechanism 3 may rotate the transport shuttle 2. In this manner, the conditions of the first object Pr, the first mounting member Pr3, and / or the second mounting member Pr4 over the entire circumferential direction can be inspected without moving the post-processing unit 613, thereby improving the accuracy of the inspection.

[0072] Furthermore, the configuration of the post-processing unit 613 is not limited to the above configuration, and a wide variety of configurations can be adopted that can accurately inspect the mounting state of the first mounting member Pr3 and / or the second mounting member Pr4 to the first item Pr. Note that the post-processing unit 613 may perform inspections other than inspection of the mounting state. A wide variety of inspections of the quality of the processing performed by the first processing unit 611 and the second processing unit 612 can be adopted. Furthermore, the post-processing unit 613 may perform processing other than inspection.

[0073] The second working area 62 has a similar configuration to the first working area 61. The first processing unit 621, the second processing unit 622, and the post-processing unit 623 of the second working area 62 correspond to the first processing unit 611, the second processing unit 612, and the post-processing unit 613 of the first working area 61, respectively. Therefore, detailed descriptions of the first processing unit 621, the second processing unit 622, and the post-processing unit 623 of the second working area 62 will be omitted.

[0074] The first processing device Pd1 disposed in the first processing section 621 is a device that screws a first attachment member Ps1 into the opening Ps0 of the second object Ps. The second processing device Pd2 is a device that screws a second attachment member Ps2 into the opening Ps0 of the second object Ps. The first processing device Pd1 is a device that screws in the left-handed first attachment member Ps1.

[0075] <Bypass Route 17> 1 and 7, the bypass path 17 is disposed in parallel with the first working area 61 or the second working area 62. In other words, by passing through the bypass path 17, the transport shuttle 2 can move without passing through at least one of the first working area 61 and the second working area 62 (i.e., by bypassing).

[0076] The bypass path 17 has a first bypass path 171 and a second bypass path 172. As shown in Fig. 7 and other figures, the first bypass path 171 is a path that includes the first connection path 141, a portion of the second transport path 12 from the second connection part P2 to the fourth connection part P4, and the second connection path 142. Also, as shown in Fig. 7, the second bypass path 172 is a path that includes the second connection path 142 and a portion of the second transport path 12 from the fourth connection part P4 to the sixth connection part P6.

[0077] Since the first items Pr1 and Pr2 are worked on in the first working area 61, there is no need to work on them in the second working area 62. Therefore, the first conveying shuttle 201 holding the first item Pr that has moved from the first working area 61 turns at the third connecting part P3 and enters the second connecting path 142. As a result, the first conveying shuttle 201 holding the first item Pr moves to the second bypass path 172. Then, the first conveying shuttle 201 holding the first item Pr moves in the third direction Tr3 along the second connecting path 142 included in the second bypass path 172, turns at the fourth connecting part P4, and moves in the first direction Tr1 along the second route 162 of the second conveying path 12.

[0078] Furthermore, the first transport shuttle 201 holding the first item Pr bends at the sixth connecting portion P6 and enters the first discharge portion 81.

[0079] The second conveying shuttle 202 holding the second item Ps does not need to work in the first working area 61. Therefore, the second conveying shuttle 202 holding the second item Ps bends at the first connecting part P1 and enters the first connecting path 141. As a result, the second conveying shuttle 202 holding the second item Ps moves to the first bypass path 171. Then, the second conveying shuttle 202 holding the second item Ps moves in the third direction Tr3 along the first connecting path 141 included in the first bypass path 171, bends at the second connecting part P2, and moves in the first direction Tr1 along the second route 162 of the second conveying path 12.

[0080] Furthermore, the second conveying shuttle 202 holding the second item Ps bends at the fourth connection part P4 and enters the second connection path 142. Thereafter, the second conveying shuttle 202 holding the second item Ps moves along the second connection path 142 in the fourth direction Tr4 and merges with the second working area 62 at the third connection part P3.

[0081] In this way, by providing the first bypass path 171 and the second bypass path 172, the transport shuttle holding the items that do not require work is prevented from entering the work area, thereby reducing congestion on the transport path and shortening the tact time for processing the items.

[0082] Also, for example, there may be cases where the first article Pr held in the article holding section 22 of the first conveying shuttle 201 is a defective article, or where the first article Pr is not held in the article holding section 22. In this case, the first conveying shuttle 201 may enter the first bypass path 171 at the first connection section P1, and enter the second bypass path 172 at the fourth connection section P4. Similarly, when the second article Ps held in the article holding section 22 of the second conveying shuttle 202 is a defective article, or when the second article Ps is not held in the article holding section 22, the second article Ps may enter directly from the first bypass path 171 to the second bypass path 172. Also, in cases other than these, the second article Ps may enter directly from the first bypass path 171 to the second bypass path 172.

[0083] <Transport shuttle 2 and transport mechanism 3> Next, a detailed description will be given of the transport shuttle 2. The transport shuttle 2 has a configuration capable of holding either the first article Pr or the second article Ps.

[0084] As shown in Fig. 6, the transport shuttle 2 has a shuttle body 21 and an article holding portion 22. The shuttle body 21 is a box having an upper surface 21u and a lower surface 21d. In a plan view, the shuttle body 21 has a square shape with rounded corners. With this configuration, when the moving direction of the shuttle body 21 is changed or when the shuttle body 21 rotates, the shuttle body 21 is less likely to interfere with other parts, such as another shuttle body 21.

[0085] A permanent magnet 32 ​​of the transport mechanism 3 is disposed inside 21c of the shuttle body 21. The shuttle body 21 is made of a non-magnetic material such as resin or aluminum, and is not magnetized. The transport shuttle 2 is provided with an identification element 23 (see FIG. 2). The identification element 23 can be, for example, an RFID (Radio Frequency Identification) and is wirelessly connected to a reader / writer (not shown) connected to the controller 4. The identification element 23 transfers individual identification information Im of the transport shuttle 2 to the controller 4. This allows the controller 4 to obtain information such as the position of the transport shuttle 2 in the transport section 1. The identification element 23 may be an optically detected element such as a two-dimensional barcode.

[0086] The article holding portion 22 is attached to the upper surface 21u of the shuttle body 21. The article holding portion 22 is cylindrical with an open top, and configured to allow the first article Pr or the second article Ps to be inserted from the opening at the top. If necessary, the article holding portion 22 capable of holding the first article Pr is referred to as the first article holding portion 221, and the article holding portion 22 capable of holding the second article Ps is referred to as the second article holding portion 222. The first article holding portion 221 is cylindrical with an inner diameter substantially the same as the outer diameter of the first article Pr. That is, the first article holding portion 221 is disposed in the first transport shuttle 201. The second article holding portion 222 is disposed in the second transport shuttle 202.

[0087] The first article holding portion 221 is cylindrical with an inner diameter substantially the same as the outer diameter of the first article Pr. That is, the first article Pr can be inserted into the first article holding portion 221, and the inner peripheral surface comes into contact with the outer peripheral surface of the first article Pr to hold the first article Pr. The second article holding portion 222 is cylindrical with an inner surface shape into which the second article Ps can fit. That is, the second article Ps can be inserted into the second article holding portion 222, and the inner peripheral surface comes into contact with the outer peripheral surface of the second article Ps to hold the second article Ps.

[0088] The transport mechanism 3 has an electromagnet 31, a permanent magnet 32, and a driver circuit 33. As shown in Fig. 6, the permanent magnet 32 ​​is disposed in the interior 21c of the shuttle body 21. The permanent magnet 32 ​​generates a magnetic field that penetrates the lower surface of the shuttle body 21.

[0089] The electromagnet 31 and the driver circuit 33 are housed in the accessory housing portion 102 of the segment 10. The electromagnet 31 has a levitation coil 311 and a movement coil 312. As shown in FIG. 2, the levitation coil 311 and the movement coil 312 are connected to the driver circuit 33. The driver circuit 33 is also connected to the controller 4, and supplies identification information Im of the segment 10 to the controller 4. The controller 4 identifies the driver circuit 33 to which the instruction is to be sent, based on the identification information Im. The controller 4 and the driver circuit 33 may be connected by wire or wirelessly.

[0090] The driver circuit 33 can supply power to the levitation coil 311 and the movement coil 312 in response to instructions from the controller 4. When a current flows through the levitation coil 311, it repels the permanent magnet 32. This repulsive force lifts the transport shuttle 2 above the upper surface 103 of the segment 10. In other words, the transport shuttle 2 levitates from the upper surface of the transport section 1 by the repulsive force between the levitation coil 311 and the permanent magnet 32.

[0091] Furthermore, the driver circuit 33 can supply power to the movement coils 312 based on instructions from the controller 4. The movement coils 312 generate a magnetic force between themselves and the permanent magnets 32 by passing a current through them. This magnetic force is either an attractive force or a repulsive force depending on the current flowing. A plurality of movement coils 312 are provided in the segment 10, and the transport shuttle 2 is moved by passing an appropriate current through an appropriate movement coil 312 at an appropriate timing to cause the permanent magnets 32 to alternately apply an attractive force or a repulsive force.

[0092] That is, by passing an appropriate current through an appropriate movement coil 312 at an appropriate timing, the transport shuttle 2 moves in the first direction Tr1, the second direction Tr2, the third direction Tr3, and the fourth direction Tr4. Furthermore, the transport shuttle 2 can move in other directions, for example, a combined direction (diagonal direction) of the first direction Tr1 and the third direction Tr3, and can also move in a rotational direction about the normal to the upper surface 103 of the segment 10 as the central axis.

[0093] The controller 4 also sends instructions to the driver circuits 33 of the adjacent segments 10 so that the movement coils 312 arranged in the adjacent segments 10 also operate in synchronization. In other words, the movement coils 312 of the adjacent segments 10 are operated in synchronization. This allows the transport shuttle 2 to move across segments 10.

[0094] The article transport apparatus 100 has the above-mentioned configuration.

[0095] <Transportation of item Pr by transport shuttle 2> Next, a description will be given of the item transport operation including processing of the items in the item transport apparatus 100. In the item transport apparatus 100, the first item Pr or the second item Ps is held by the first transport shuttle 201 or the second transport shuttle 202 at the first carry-in section 71 or the second carry-in section 72. Then, the first transport shuttle 201 or the second transport shuttle 202 moves from the first carry-in section 71 or the second carry-in section 72 to the second transport path 12, whereby the first item Pr and the second item Ps are transported into the second transport path 12.

[0096] Then, the first object Pr or the second object Ps is moved by the first transport shuttle 201 or the second transport shuttle 202 to the first preliminary processing unit 181 or the second preliminary processing unit 182, where a cleaning process, which is a pre-processing process, is performed. After that, the first transport shuttle 201 or the second transport shuttle 202 moves to the third preliminary processing unit 183. Then, in the third preliminary processing unit 183, the first object Pr or the second object Ps is subjected to a common process of inserting hard balls as necessary.

[0097] Thereafter, the first conveying shuttle 201 or the second conveying shuttle 202 moves to the first initial processing section 51 or the second initial processing section 52. The first item Pr or the second item Ps undergoes a process of filling the contents, which is an intermediate process. Thereafter, the first conveying shuttle 201 or the second conveying shuttle 202 moves to the post-processing section 53. Then, in the post-processing section 53, the first item Pr or the second item Ps is inspected for leakage of the contents, i.e., dripping.

[0098] Furthermore, the first conveying shuttle 201 or the second conveying shuttle 202 moves to the first working area 61 or the second working area 62. A lid attachment process to close the opening is performed on the first item Pr or the second item Ps. Then, the first conveying shuttle 201 or the second conveying shuttle 202 moves to the first outgoing section 81 or the second outgoing section 82. The first item Pr or the second item Ps is transported from the first outgoing section 81 or the second outgoing section 82 to the outside (e.g., the next process).

[0099] The details of each processing section, the processing in the working area, and the movement of the transport shuttle will be described below.

[0100] As shown in FIG. 1 and FIG. 7, in the conveying section 1, the conveying shuttle 2 basically moves in a clockwise direction on the first route 161. That is, the controller 4 controls the driver circuits 33 arranged in each segment 10 so that the conveying shuttle 2 in normal operation moves in a clockwise direction on the first route 161. For example, the conveying shuttle 2 normally moves in a first direction Tr1 in a portion located on the first conveying path 11 of the first route 161, and moves in a second direction Tr2 in a portion located on the second conveying path 12 of the first route 161. Note that when the controller 4 controls the driver circuits 33 arranged in multiple segments 10 to operate in a synchronized manner, this may be simply referred to as controlling the driver circuits 33.

[0101] <Carrying in of goods> On the second transport path 12, the second carry-in section 72 and the first carry-in section 71 are arranged in this order toward the second direction Tr2. Of the transport shuttles 2 moving on the first route 161 of the second transport path 12 in the second direction Tr2, the second transport shuttle 202 is sent to the second carry-in section 72. That is, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves to the second carry-in section 72.

[0102] In the second loading section 72, the second item Ps is inserted into the second item holding section 222 of the second transport shuttle 202. Therefore, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves at a speed slower than the speed at which the second transport shuttle 202 moves along the first route 161 of the second loading section 72. The controller 4 may also control the driver circuit 33 so that the second transport shuttle 202 stops at the timing when the second item Ps is delivered into the second item holding section 222 of the second transport shuttle 202.

[0103] Then, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202, with the second item holding unit 222 holding the second item Ps, returns to the first route 161 of the second transport path 12 in the second carry-in section 72. The controller 4 controls the driver circuit 33 so that the second transport path 12, having returned to the first route 161, moves in the second direction Tr2. Note that the second transport shuttle 202 or the second carry-in section 72 may be provided with an item detection element such as a sensor so as to be able to detect that the second item holding unit 222 is holding the second item Ps.

[0104] Furthermore, when the second carry-in section 72 is congested, the controller 4 controls the driver circuit 33 to wait at a position on the first route 161 of the second transport path 12 before the second carry-in section 72 in the second direction Tr2. As a result, the first route 161 is blocked by the waiting second transport shuttle 202. Therefore, when there is a waiting second transport shuttle 202, the controller 4 controls the driver circuit 33 to have the first transport shuttle 201 return to the first route 161 after bypassing the second carry-in section 72 through the second route 162.

[0105] A part of the second route 162 of the second transport path 12 overlaps with the first bypass path 171 or the second bypass path 172. The controller 4 controls the driver circuit 33 so that the second transport shuttle 202 passing through the first bypass path 171 and the first transport shuttle 201 passing through the second route 162 to avoid stagnation of the second loading section 72 do not interfere with each other.

[0106] The controller 4 moves the first conveying shuttle 201 to the first loading section 71 by executing control similar to that performed when moving the second conveying shuttle 202 to the second loading section 72, and controls the driver circuit 33 so that the first item Pr is held by the first item holding section 221 of the first conveying shuttle 201 that has moved to the first loading section 71.

[0107] When the waiting first transport shuttle 201 blocks the first route 161, the controller 4 executes the same control as that executed on the first transport shuttle 201 at the second carry-in section 72. In other words, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 detours around the first carry-in section 71 via the second route 162.

[0108] In this way, the item transport device 100 can transport first items Pr and second items Ps of different types. At least one of the first carry-in section 71 and the second carry-in section 72 may be configured to transport items manually by an operator, or automatically by a machine. Also, in an apparatus that transports the same type of items, one of the first carry-in section 71 and the second carry-in section 72 may be configured to transport items automatically by a machine, and the other may be configured to transport items manually by an operator. An example of manual transport is when an item is returned to the transport path after a random inspection that is performed periodically. Other configurations are also possible.

[0109] <Pretreatment> The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 holding the first object Pr in the first carry-in section 71 moves along the first route 161 of the second transport path 12 to the first preliminary processing unit 181. Then, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 that has reached the first carry-in section 71 moves toward the second route 162 and stops on the second route 162. In this state, the controller 4 operates the first preliminary processing device Pa1 to blow air against the first object Pr held by the first transport shuttle 201 to clean the first object Pr. The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves from the second route 162 to the first route 161 and moves to the third preliminary processing unit 183, which is the next process.

[0110] The controller 4 performs a similar operation on the second transport shuttle 202. That is, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves to the second preliminary processing unit 182, and after the pre-processing is performed on the second article Ps in the second preliminary processing device Pa2, moves from the second preliminary processing unit 182 to the third preliminary processing unit 183.

[0111] When the first transport shuttle 201 is located at the first preliminary processing unit 181 and pre-processing is being performed on the first article Pr, the second transport shuttle 202 moves along the first route 161 in the second direction Tr2 to pass through the first preliminary processing unit 181. The first transport shuttle 201 moving from the first preliminary processing unit 181 to the third preliminary processing unit 183 can pass through the second preliminary processing unit 182 by moving along the first route 161 in the second direction Tr2. By appropriately adjusting the timing at which the controller 4 sends out the transport shuttle 2 from the first carry-in unit 71 and the second carry-in unit 72, it is possible to prevent the transport shuttle 2 from stagnation in the first preliminary processing unit 181 and the second preliminary processing unit 182.

[0112] In addition, if the configuration is such that a conveying shuttle 2 holding an item Pr that is not being processed cannot pass through when processing is being performed on the item Pr, the first preliminary processing unit 181 and the second preliminary processing unit 182 may be arranged on the protrusion 15.

[0113] <Common processing> After the pre-processing in the first preliminary processing unit 181 or the second preliminary processing unit 182 is completed, the controller 4 controls the driver circuit 33 so that the transport shuttle 2 moves along the first route 161 to an end of the second transport path 12 in the second direction Tr2. Then, the controller 4 controls the driver circuit 33 so that the transport shuttle 2 moves along the first route 161 of the first connecting path 131 in the fourth direction Tr4.

[0114] The transport shuttle 2 moving on the first route 161 stops at a position straddling the first route 161 and the second route 162, that is, at the center of the segment 10, in the third preliminary processing unit 183. In other words, the controller 4 controls the driver circuit 33 so that the transport shuttle 2 moving on the first connecting path 131 is moved to the center of the segment 10 in the third preliminary processing unit 183 and stopped at that position.

[0115] Then, the controller 4 controls the third preliminary processing device Pm to perform common processing on the article Pr held by the transport shuttle 2. The transport shuttle 2 may move from the first route 161 to the center of the segment 10 perpendicular to the first route 161 or diagonally. The common processing may be unnecessary depending on the configuration of the article Pr and the characteristics of the contents filled therein. When the common processing is unnecessary, the controller 4 passes the third preliminary processing device 183 while the transport shuttle 2 is on the first route 161. The transport shuttle 2 moves from the first connecting path 131 to the first transport path 11.

[0116] <First intermediate treatment, second intermediate treatment> 7, a first initial processing unit 51 is provided on a protruding portion 15 protruding from a segment 10 to which a first communication path 131 of the first transport path 11 is connected. A second initial processing unit 52 is provided on a protruding portion 15 protruding from a segment 10 downstream of the first initial processing unit 51 of the first transport path 11 in the first direction Tr1.

[0117] When the first transport shuttle 201 reaches the first initial processing unit 51, if there is a first transport shuttle 201 waiting on the send-out path 511, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 waits behind the waiting first transport shuttle 201. The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves from the first transport shuttle 201 that is waiting earlier on the send-out path 511 to the first initial processing unit 51. If there is no first transport shuttle 201 waiting on the send-out path 511, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first initial processing unit 51.

[0118] Here, the positioning of the first article Pr relative to the first initial processing device Pb1 in the first initial processing unit 51 will be described with reference to the drawings. Fig. 8 is a plan view of the first transport shuttle 201 and the segment 10 when positioning in the first initial processing unit 51 is performed. Fig. 8 also illustrates a nozzle Pb11 for filling the contents of the first initial processing device Pb1. Fig. 8 also illustrates a state in which the first transport shuttle 201 is positioned in the center of the segment 10.

[0119] In the first initial processing device Pb1, the nozzle Pb11 is inserted into the first object Pr through the opening Pr0, and the fluid content is filled. In a plan view, the controller 4 can move the transport shuttle 2 in a first direction Tr1, a second direction Tr2, a third direction Tr3, and a fourth direction Tr4 above the segment 10. In other words, the controller 4 can move the first transport shuttle 201 in a direction specified in a Cartesian coordinate system.

[0120] Using this, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to a position where the opening Pr0 of the first object Pr overlaps with the nozzle Pb11 in the vertical direction. The first transport shuttle 201 is stopped at the position where the opening Pr0 of the first object Pr overlaps with the nozzle Pb11 in the vertical direction. Then, the controller 4 controls the first initial processing device Pb1 so that the tip of the nozzle Pb11 moves downward. As a result, the nozzle Pb11 is inserted into the opening Pr0 of the first object Pr.

[0121] The controller 4 controls the first initial processing device Pb1 to fill the contents from the nozzle Pb11 into the first item Pr. The filling amount of the contents may be controlled by the filling amount or may be controlled based on the liquid level of the opening Pr0. After filling of the contents is completed, the controller 4 controls the first initial processing device Pb1 to move the nozzle Pb11 upward, and controls the driver circuit 33 to move the first transport shuttle 201 to the feed path 512.

[0122] In this way, by using the item transport apparatus 100 of this embodiment, when positioning the item and the processing device in each processing section, the position adjustment in the direction along the upper surface of the transport section 1 can be performed by the transport mechanism 3. Therefore, each processing device only needs to be controlled in the direction intersecting (e.g., perpendicular to) the upper surface, and the configuration of the processing device can be simplified. As a result, even if a deviation occurs from a reference point in a planar view due to an error when installing the processing device, a movement due to vibration during operation, etc., the deviation can be easily dealt with.

[0123] The method of positioning the transport shuttle 2 by the transport mechanism 3 is not particularly limited. For example, the processing device may be provided with an imaging unit (not shown) that images the transport shuttle 2, and a reference point (such as an edge of a corner) of the transport shuttle 2 in the image captured by the imaging unit may be controlled to a specified position. In this embodiment, the position of the transport shuttle 2 relative to the segment 10 is determined in an orthogonal coordinate system of the first direction Tr1, the second direction Tr2, the third direction Tr3, and the fourth direction Tr4, but the present invention is not limited to this, and the position may be controlled using a polar coordinate system.

[0124] Returning to the description of the operation of the transport shuttle 2 in the transport section 1, when the second transport shuttle 202 reaches the output path 511, if there is a first transport shuttle 201 waiting on the output path 511, the controller 4 controls the driver circuit 33 to move the second transport shuttle 202 to the second route 162 and pass through the first initial processing section 51. If there is no first transport shuttle 201 waiting on the output path 511, the controller 4 controls the driver circuit 33 to move the second transport shuttle 202 to the second route 162. Note that the controller 4 may control the driver circuit 33 to move the second transport shuttle 202 to the second route 162 regardless of whether there is a first transport shuttle 202 waiting on the output path 511.

[0125] The controller 4 also controls the driver circuit 33 for the second initial processing unit 52 in the same manner as for the first initial processing unit 51. That is, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 either moves to the second initial processing unit 52 or waits at the output path 521, depending on whether the second transport shuttle 202 is waiting at the output path 521 or not. The controller 4 also controls the driver circuit 33 so that the first transport shuttle 201 passes through the second initial processing unit 52 via the second route 162.

[0126] The controller 4 controls the driver circuit 33 so that the first transport shuttle 201, which has passed through the second initial processing section 52, and the second transport shuttle 202, which has moved from the second initial processing section 52 to the first transport path 11, move in the first direction Tr1 along the first route 161.

[0127] A post-processing unit 53 is disposed downstream of the second initial processing unit 52 on the first transport path 11 in the first direction Tr1, and the controller 4 controls the driver circuit 33 to move the first transport shuttle 201 and the second transport shuttle 202 sequentially to the post-processing unit 53. The controller 4 then controls the driver circuit 33 to position the first article Pr and the second article Ps in the post-processing unit 53 at positions where they can be inspected by the initial inspection device Pb3. In other words, the controller 4 controls the driver circuit 33 to move the first transport shuttle 201 and the second transport shuttle 202 to the central portion of the segment 10 where the post-processing unit 53 is installed.

[0128] <First working area 61, second working area 62, first bypass path 171, second bypass path 172> The first transport shuttle 201 moves to the first working area 61, and a predetermined process is performed on the first object Pr held by the first transport shuttle 201. In addition, the second transport shuttle 202 moves to the second working area 62, and a predetermined process is performed on the second object Ps held by the second transport shuttle 202.

[0129] First, a procedure for attaching the first attachment member Pr3 and the second attachment member Pr4 to the first item Pr1 shown in Fig. 3 will be described. Next, a procedure for attaching the first attachment member Pr5 and the second attachment member Pr6 to the first item Pr2 will be described.

[0130] FIG. 9 is an enlarged plan view of the first working area 61 and the first bypass path 171. FIG. 10 is a schematic plan view showing the state where the first transport shuttle 201 moves to the first processing section 611. FIG. 11 is a schematic plan view showing the state where the first transport shuttle 201 moves from the first processing section 611 to the post-processing section 613. FIG. 12 is a schematic plan view showing the state where the first transport shuttle 201 moves from the post-processing section 613 to the second processing section 612. FIG. 13 is a schematic plan view showing the state where the first transport shuttle 201 moves from the second processing section 612 to the post-processing section 613. FIG. 14 is a schematic plan view showing the state where the first transport shuttle 201 moves from the post-processing section 613 to the downstream side in the first direction Tr1 from the first working area 61. FIG. 15 is a schematic plan view showing the state where the first transport shuttle 201 moves to the first discharge section 81 through the second bypass path 172.

[0131] 9 to 15, a first attachment member Pr3 and a second attachment member Pr4 are attached to a first object Pr1 in the first working area 61. In addition, in the drawings shown in Fig. 9 to 15, the movement order of the transport shuttle 2 is indicated by arrows, and does not indicate that the transport shuttle 2 shown in the drawings is always positioned at that position.

[0132] 9, in the first transport path 11, the first connection part P1 is located between the post-processing part 53 and the first working area 61. The controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves from the post-processing part 53 in the first direction Tr1, and then moves to the second working area 62 through the first bypass path 171.

[0133] More specifically, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves from the post-processing unit 53 to the second route 162 and then moves along the second route 162 to the first connection unit P1 along the first direction Tr1. In this manner, the second transport shuttle 202 moves along the second route 162, so that the output path 614 toward the first processing unit 611 in the first working area 61 can be formed in the same segment 10 as the first connection unit P1. This allows the transport unit 1 to be made smaller.

[0134] The controller 4 controls the driver circuit 33 to move the second transport shuttle 202 as follows. The second transport shuttle 202 moves from the first connection part P1 through the first connection path 141 to the second connection part P2 of the second transport path 12. Then, the second transport shuttle 202 moves along the second route 162 of the second transport path 12 in the first direction Tr1 to the fourth connection part P4. After that, the second transport shuttle 202 moves from the fourth connection part P4 through the second connection path 142 to the third connection part P3 of the first transport path 11.

[0135] 1 and 7, the third connection part P3 is located on the downstream side of the first direction Tr1 in the first transport path 11. Therefore, the second transport shuttle 202 can bypass the first working area 61 by moving in the order of the first connection path 141, the second transport path 12, and the second connection path 142. Note that the controller 4 adjusts the timing of departure from the post-processing part 53 or the timing of passing through the first connection path 141 so that the second transport shuttle 202 does not interfere with other transport shuttles 2 when passing through the first bypass path 171.

[0136] Next, the operation of processing the first item Pr1 held by the first transport shuttle 201 in the first working area 61 will be described. The controller 4 recognizes that the item held by the first transport shuttle 201 is the first item Pr1. After being processed in the first processing unit 611, the first item Pr1 is inspected in the post-processing unit 613, processed in the second processing unit 612, and then inspected again in the post-processing unit 613 before being sent out of the first working area 61.

[0137] 10, after the inspection of the first object Pr1 held by the first transport shuttle 201 in the post-processing section 53 is completed, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 returns to the first route 161 and moves along the first route 161 to the first working area 61. When the first transport shuttle 201 is waiting on the output path 614 to the first processing section 611 in the first working area 61, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 waits behind the first transport shuttle 201 waiting for the first transport shuttle 201. When there is no first transport shuttle 201 waiting on the output path 614, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first processing section 611.

[0138] The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 waiting on the delivery path 614 is sent sequentially to the first processing unit 611. The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves in a manner similar to the positioning in the first initial processing unit 51, and positions the first article Pr1 relative to the first processing device Pc1. The controller 4 then controls the first processing device Pc1 so that the first mounting member Pr3 is screwed in to be attached to the opening Pr0 of the first article Pr1.

[0139] 11, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves from the first processing section 611 to the feed path 615 and also moves along the first route 161 to the post-processing section 613 along the first direction Tr1. The first transport shuttle 201 holding the first item Pr1 processed in the second processing section 612 also moves to the post-processing section 613. The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moving from the first processing section 611 to the post-processing section 613 and the first transport shuttle 201 moving from the second processing section 612 to the post-processing section 613 do not interfere with each other.

[0140] In addition, examples of such control methods include, but are not limited to, control that prioritizes either movement from the first processing unit 611 or movement from the second processing unit 612, or control that alternates between movements to the post-processing unit 613.

[0141] The controller 4 controls the driver circuit 33 to move the first transport shuttle 201 so as to position the first article Pr1 relative to the post-processing device Pc3 in a manner similar to the positioning in the first initial processing device 51. The controller 4 then controls the post-processing device Pc3 to inspect the attachment state of the first attachment member Pr3 to the first article Pr1 in the post-processing device 613. The controller 4 stores the inspection result in the memory circuit 42 together with the individual identification information If of the first transport shuttle 201.

[0142] 12, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first route 161 and moves to the output path 616 of the second processing unit 612 along the first direction Tr1. When the first transport shuttle 201 is waiting on the output path 616, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 waits behind the waiting first transport shuttle 201. When the first transport shuttle 201 is not waiting on the output path 616, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the second processing unit 612. The first transport shuttles 201 waiting on the output path 616 are sequentially moved to the second processing unit 612.

[0143] The controller 4 controls the driver circuit 33 to move the first transport shuttle 201 so as to position the first article Pr1 relative to the second processing device Pc2 in a manner similar to the positioning in the first initial processing device 51. Then, the controller 4 controls the second processing device Pc2 to attach the second attachment member Pr4 to the first attachment member Pr3 by pushing in the second attachment member Pr4.

[0144] 13, the controller 4 controls the driver circuit 33 to send out the first transport shuttle 201 from the second processing section 612 to the feed path 617 and move to the second route 162 of the first transport path 11. Then, the driver circuit 33 controls the first transport shuttle 201 to move along the second route 162 to the post-processing section 613 in the second direction Tr2. In this way, in the first transport path 11, the controller 4 controls the first transport shuttle 201 moving from the post-processing section 613 to the second processing section 612 to pass through the first route 161, and the first transport shuttle 201 moving from the second processing section 612 to the post-processing section 613 to pass through the second route 162, thereby suppressing interference between the first transport shuttles 201.

[0145] Thereafter, the controller 4 controls the post-processing device Pc3 so as to inspect the attachment state of the second attachment member Pr4 to the first article Pr1 in the post-processing unit 613. The controller 4 stores the inspection result in the memory circuit 42 together with the individual identification information If of the first transport shuttle 201.

[0146] 14, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first route 161, and moves along the first route 161 in the first direction Tr1 to a point where the second processing unit 612 and the first transport path 11 are connected. Then, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the second route 162, and moves along the second route 162 in the first direction Tr1 to just before the third connection point P3.

[0147] Through the above procedure, the first attachment member Pr3 and the second attachment member Pr4 are attached to the first article Pr1 held by the first transport shuttle 201. As shown in Fig. 15, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the sixth connection part P6 through the second bypass path 172. Then, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first discharge part 81 provided on the protruding part 15 protruding from the downstream end of the second transport path 12 in the first direction Tr1. Then, the first article Pr1 held by the first transport shuttle 201 is discharged to the outside.

[0148] Thereafter, the controller 4 controls the driver circuit 33 so that after the first item Pr1 has been discharged, the first conveying shuttle 201 moves from the first discharge section 81 to the first route 161 of the second conveying path 12, and moves along the first route 161 along the second direction Tr2 toward the first input section 71.

[0149] The first bypass path 171 and the second bypass path 172 share the second connection path 142 and are oriented in opposite directions. The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 and the second transport shuttle 202 do not interfere with each other.

[0150] Such control may be such that priority is given to either the first transport shuttle 201 or the second transport shuttle 202. For example, priority may be given to the second transport shuttle 202 holding the second item Ps to be processed in the second working area 62, but this is not limiting. Also, it is possible to employ a method of controlling the transport shuttle 2 to pass on the same side of the traveling direction when moving along the second connecting path 142.

[0151] Next, a case will be described where the first attachment member Pr5 and the second attachment member Pr6 are attached to the first object Pr2 as shown in Fig. 4. In the following explanation, the explanation will start from a state where the first conveyor shuttle 201 has entered the first working area 61.

[0152] Fig. 16 is a schematic plan view showing the state where the first transport shuttle 201 moves to the second processing section 612. Fig. 17 is a schematic plan view showing the state where the first transport shuttle 201 moves from the second processing section 612 to the post-processing section 613. Fig. 18 is a schematic plan view showing the state where the first transport shuttle 201 moves from the post-processing section 613 to the first processing section 611. Fig. 19 is a schematic plan view showing the state where the first transport shuttle 201 moves from the first processing section 611 to the post-processing section 613. Fig. 20 is a schematic plan view showing the state where the first transport shuttle 201 moves from the post-processing section 613 to the downstream side in the first direction Tr1 from the first working area 61.

[0153] 16, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves along the first route 161 in the first direction Tr1, passing through a portion connecting with the first processing section 611, to the output path 616 of the second processing section 612. At this time, the first transport shuttle 201 may move to the center of the first transport path 11 at one end of the post-processing section 613. By controlling in this way, a constant control can be performed regardless of whether an inspection is performed or not, thereby reducing the complexity of the control.

[0154] When there is a waiting first transport shuttle 201 on the output path 616, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 is positioned behind the waiting first transport shuttle 201. When there is no waiting first transport shuttle 201, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the second processing unit 612.

[0155] The controller 4 controls the second processing device Pc2 so that the second attachment member Pr6 is attached to the opening Pr0 of the first object Pr2 by pushing in the second processing unit 612. The second attachment member Pr6 has a different shape from the second attachment member Pr4, but the attachment method of attaching by pressing in the axial direction is the same. Therefore, the second processing device Pc2 can be switched from being used for the first object Pr1 to being used for the first object Pr2 by simply replacing the attachment member or the jig.

[0156] 17, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the second route 162 and moves along the second route 162 to the post-processing unit 613 in the second direction Tr2. As described above, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 from the first processing unit 611 and the first transport shuttle 201 from the second processing unit 612 do not interfere with each other.

[0157] The controller 4 controls the driver circuit 33 to move the first transport shuttle 201 so as to position the first item Pr2 relative to the post-processing device Pc3. Then, in the post-processing unit 613, the controller 4 controls the post-processing device Pc3 so as to inspect the attachment state of the second attachment member Pr6 to the first item Pr2. The controller 4 stores the inspection result in the memory circuit 42 together with the individual identification information If of the first transport shuttle 201.

[0158] As shown in Fig. 18, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the second route 162 and moves to the output path 614 of the first processing unit 611 along the second direction Tr2. When the first transport shuttle 201 is waiting on the output path 614, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 waits behind the waiting first transport shuttle 201. When the first transport shuttle 201 is not waiting on the output path 614, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first processing unit 611. The first transport shuttles 201 waiting on the output path 614 are moved to the first processing unit 611 one by one.

[0159] The controller 4 controls the first processing device Pc1 to attach the first attachment member Pr5 to the opening Pr0 of the first item Pr2 by screwing the first attachment member Pr5 into the male thread on the outer periphery of the opening Pr0 of the first item Pr2.

[0160] 19, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves from the first processing unit 611 to the input path 615 and also moves along the first route 161 to the post-processing unit 613 in the first direction Tr1. The controller 4 controls the driver circuit 33 so that the first transport shuttle 201 of the first processing unit 611 does not interfere with the first transport shuttle 201 from the second processing unit 612. Examples of such a control method include, but are not limited to, a control that prioritizes either the movement from the first processing unit 611 or the movement from the second processing unit 612, or a control that alternately moves to the post-processing unit 613.

[0161] The controller 4 controls the driver circuit 33 to move the second transport shuttle 202 so as to position the first item Pr2 relative to the post-processing device Pc3. In the post-processing unit 613, the controller 4 controls the post-processing device Pc3 to inspect the attachment state of the first attachment member Pr5 to the first item Pr2. The controller 4 stores the inspection result in the memory circuit 42 together with the individual identification information If of the first transport shuttle 201.

[0162] As shown in Fig. 20, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first route 161 and passes through the second processing unit 612 along the first direction Tr1. When the first transport shuttle 201 is waiting on the sending path 616, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 waits behind the waiting first transport shuttle 201. When the first transport shuttle 201 is not waiting on the sending path 616, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the second processing unit 612. The first transport shuttles 201 waiting on the sending path 616 are sequentially moved to the second processing unit 612.

[0163] Then, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the first route 161, and moves along the first route 161 in the first direction Tr1 to a point where the second processing unit 612 and the first transport path 11 are connected. Then, the controller 4 controls the driver circuit 33 so that the first transport shuttle 201 moves to the second route 162, and moves along the second route 162 in the first direction Tr1 to just before the third connection point P3.

[0164] Through the above procedure, the first attachment member Pr5 and the second attachment member Pr6 are attached to the first object Pr2 held by the first transport shuttle 201. Note that the operation of the first transport shuttle 201 after the first attachment member Pr5 and the second attachment member Pr6 are attached to the first object Pr2 can be performed in the same manner as the operation shown in Fig. 15. Therefore, a detailed description will be omitted.

[0165] As described above, by configuring the first processing device Pc1 to attach the mounting member by screwing, and the second processing device Pc2 to attach the mounting member by pushing, as in the first working area 61, it is possible to process items of different shapes, such as the first item Pr1 and the first item Pr2.

[0166] The operation in the second working area 62 will be described with reference to the drawings. FIG. 21 is a schematic plan view showing the state where the second transport shuttle 202 moves to the second processing section 612. FIG. 22 is a schematic plan view showing the state where the second transport shuttle 202 moves from the first processing section 621 to the post-processing section 623. FIG. 23 is a schematic plan view showing the state where the second transport shuttle 202 moves from the post-processing section 623 to the second processing section 622. FIG. 24 is a schematic plan view showing the state where the second transport shuttle 202 moves from the second processing section 622 to the post-processing section 623. FIG. 25 is a schematic plan view showing the state where the second transport shuttle 202 moves along the first route 161 of the second transport path 12 after moving from the post-processing section 623 to the second discharge section 82. Note that the control of the driver circuit 33 by the controller 4, including positioning in each processing section, is performed in the same manner as the control in the first working area 61, so details will be omitted.

[0167] As described above, the second transport shuttle 202 that has passed through the first bypass path 171 enters the first transport path 11 at the third connection point P3 on the upstream side of the second working area 62 in the first direction Tr1.

[0168] 21, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves along the first route 161 to the first working area 61. When the second transport shuttle 202 is waiting on the delivery path 624 to the first processing unit 621 in the second working area 62, the controller 4 controls the driver circuit 33 so that the driver circuit 33 waits behind the second transport shuttle 202 waiting for the second transport shuttle 202. When the second transport shuttle 202 is not waiting on the delivery path 624, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves to the second processing unit 612.

[0169] The controller 4 controls the driver circuit 33 so that the second transport shuttle 202 waiting on the delivery path 624 is sent sequentially to the first processing unit 621. The positioning control is the same as described above, so details will be omitted. The controller 4 then controls the first processing unit Pd1 so that the first mounting member Ps1 is screwed in a left-handed direction to be attached to the opening Ps0 of the second article Ps.

[0170] 22, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves from the first processing unit 621 to the feed path 625 and also moves along the first route 161 to the post-processing unit 623 along the first direction Tr1. Note that the second transport shuttle 202 from the second processing unit 622 also moves to the post-processing unit 623. The controller 4 controls the driver circuit 33 so that the second transport shuttles 202 moving from both sides to the post-processing unit 623 do not interfere with each other.

[0171] The controller 4 controls the post-processing device Pd3 to inspect the attachment state of the first attachment member Ps1 to the second article Ps in the post-processing unit 623. The controller 4 stores the inspection result in the memory circuit 42 together with the individual identification information If of the second transport shuttle 202.

[0172] As shown in Fig. 23, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves to the first route 161 and moves to the output path 626 of the second processing unit 622 along the first direction Tr1. When the second transport shuttle 202 is waiting on the output path 626, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 waits behind the waiting second transport shuttle 202. When the second transport shuttle 202 is not waiting on the output path 626, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves to the second processing unit 622. The second transport shuttles 202 waiting on the output path 626 are sequentially moved to the second processing unit 622.

[0173] In the second processing section 622, the controller 4 controls the second processing device Pd2 to attach the second mounting member Pr4 to the opening Ps0 of the second object Ps by screwing it in a right-handed screw direction.

[0174] 24, the controller 4 controls the driver circuit 33 to send out the second transport shuttle 202 from the second processing section 622 to the feed-in path 627 and move it to the second route 162 of the first transport path 11. Then, the controller 4 controls the driver circuit 33 to move the second transport shuttle 202 along the second route 162 in the second direction Tr2 to the post-processing section 623.

[0175] Thereafter, in the post-processing section 623, the controller 4 controls the post-processing device Pd3 to inspect the attachment state of the second attachment member Ps2 to the second article Ps. The controller 4 stores the inspection result in the memory circuit 42 together with the individual identification information If of the second transport shuttle 202.

[0176] 25, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves to the first route 161, and then moves along the first route 161 in the first direction Tr1 to an end of the first transport path 11 on the downstream side in the first direction Tr1. Then, the controller 4 controls the driver circuit 33 so that the second transport shuttle 202 moves along the first route 161 of the second connection path 132 in the third direction Tr3 to a portion connected to the second unloading unit 82.

[0177] Then, the controller 4 controls the driver circuit 33 to move the second transport shuttle 202 to the second discharge section 82. At the second discharge section 82, the second item Ps held by the second transport shuttle 202 is discharged to the outside. Thereafter, the controller 4 controls the driver circuit 33 to move the second transport shuttle 202 along the first route 161 of the second connection path 132 to the end of the third direction Tr3, and along the first route 161 of the second transport path 12 in the second direction Tr2.

[0178] Through the above procedure, the first attachment member Ps1 and the second attachment member Ps2 are attached to the second item Ps held by the second transport shuttle 202. Depending on the configuration of the second item Ps, it may be necessary to attach the first attachment member with a left-handed thread after attaching the second attachment member with a right-handed thread. In such a case, similar to the first working area 61, the second transport shuttle 202 can be moved in the order of the second processing unit 622, the post-processing unit 623, the first processing unit 621, and the post-processing unit 623.

[0179] In addition, in the second working area 62, as in the first working area 61, it is also possible to perform processing in the second processing unit 622, inspection in the post-processing unit 623, processing in the first processing unit 621, and inspection in the post-processing unit 623 in that order.

[0180] In the conveying section 1 of this embodiment, the end of the second working area 62 is configured to overlap with the connection portion with the second connecting path 132 of the first conveying path 11, but this is not limited to this, and the second connecting path 132 may be configured to connect downstream of the downstream end of the second working area 62 of the first conveying path 11 in the first direction Tr1.

[0181] As described above, by configuring the article transport apparatus 100, it is possible to transport and process two different types of articles while reducing the length of the transport section 1. Therefore, the installation area can be made smaller than that of conventional article transport apparatuses that use conveyors or the like.

[0182] In this embodiment, the first working area 61 and the second working area 62 are configured to perform two types of processing on the first item Pr and the second item Ps, but the present invention is not limited to this. The configuration of the first working area 61 and the second working area 62 may be left unchanged, and only one of the two processing may be performed depending on the configuration of the items.

[0183] In addition, in this embodiment, the first working area 61 and the second working area 62 are configured to be capable of performing two types of processing, but are not limited to this and may be configured to be capable of performing three or more types of processing. Although the control becomes complicated, even when three or more types of processing are performed, one post-processing unit can be shared, so that the configuration can be simplified and the installation area of ​​the item transport apparatus 100 can be reduced.

[0184] In addition, in the present embodiment, the first working area 61 and the second working area 62 are configured to process the first object Pr and the second object Ps having different shapes, but this is not limited to this, and even if the first object Pr and the second object Ps have the same shape but are processed differently, the first object Pr and the second object Ps are multiple types of objects and this embodiment can be applied. In this case, it is not necessary for there to be multiple types of transport shuttles.

[0185] In addition, the article transport apparatus 100 of this embodiment is configured to be capable of transporting and processing two types of articles, but is not limited to this. In the article transport apparatus 100 of this embodiment, the loading section, pre-processing section, third preliminary processing section, intermediate processing section, working area, and unloading section are each configured to be lined up along one transport section, so that it can easily accommodate a configuration capable of transporting and processing three or more types of articles.

[0186] In addition, in the item transport apparatus 100 of this embodiment, the first processing section, the second processing section, and the post-processing section are arranged side by side in the working area, and processing can be performed while moving in the first direction or the second direction. Therefore, processing in the first processing section and processing in the second processing section can be switched, and even when switching between items to be processed with items having different processing orders, this can be handled by simply changing the processing device in each processing section. Therefore, the time required to switch between items to be transported and processed can be shortened.

[0187] Furthermore, in the article transport apparatus 100 of this embodiment, the transport mechanism 3 may be configured to be capable of performing, as a positioning operation, a lifting operation (first lifting operation) for changing the distance between the transport shuttle 2 and the upper surface 103 of the transport unit 1 at least in the processing units 51, 52, 53, 71, 72, 81, 82, 611, 612, 621, 622, 623. The amount of change in the distance between the transport shuttle 2 and the upper surface 103 of the transport unit 1 due to this lifting operation may be smaller (i.e., finer resolution) than the amount of change in the distance due to a lifting operation (second lifting operation) for changing the distance between the processing ends (e.g., filling nozzles) of the processing devices Pb1, Pb2, Pc1, Pc2, Pd1, Pd2 and the upper surface 103 of the transport unit 1. By configuring in this manner, the processing devices Pb1, Pb2, Pc1, Pc2, Pd1, and Pd2 can be precisely positioned in the vertical direction between the item Pr and the processing devices Pb1, Pb2, Pc1, Pc2, Pd1, and Pd2, so that positioning accuracy can be ensured even in devices with low accuracy in moving the processing end.

[0188] In addition, in the present embodiment of the item conveying device 100, as an example, the first initial processing unit 51, the second initial processing unit 52, the first processing units 611, 621, and the second processing units 612, 622 are provided on the protrusion 15 and arranged along the conveying unit 1, but this is not limited to this, and for example, each processing unit may be configured to be provided on the conveying paths 11, 12.

[0189] In addition, in the article conveying apparatus 100 of the present embodiment, as an example, the width of each of the first route 161 and the second route 162 in the conveying section 1 is approximately equal to the width of the conveying shuttle 2 facing the upper surface of the conveying section 1, but this is not limited thereto, and for example, the width of each / either of the first route 161 and the second route 162 may be approximately 1.5 times or more the width of the conveying shuttle 2 facing the upper surface of the conveying section 1. By doing so, for example, even if the conveying shuttle 2 is positioned straddling the first route 161 and the second route 162 in the third preliminary processing section 183, the post-processing section 53, the post-processing section 613, or the post-processing section 623, another conveying shuttle 2 can pass beside it and the movement is not hindered. In other words, it is possible to realize further various modes of movement of the conveying shuttle 2.

[0190] Further, in the article conveying apparatus 100 of the present embodiment, as an example, a configuration has been described in which the post-processing unit 53 that performs an inspection on the processing in the first initial processing unit 51 and the second initial processing unit 52, the post-processing unit 613 that performs an inspection on the processing in the first processing unit 611 and the second processing unit 612, and the post-processing unit 623 that performs an inspection on the processing in the first processing unit 621 and the second processing unit 622 are provided, but the processing performed in the post-processing unit 613 and the post-processing unit 623 is not limited to inspection. For example, a configuration may be provided in which the post-processing unit 53 that performs a predetermined post-processing on the processing in the first initial processing unit 51 and the second initial processing unit 52, the post-processing unit 613 that performs a predetermined post-processing on the processing in the first processing unit 611 and the second processing unit 612, and the post-processing unit 623 that performs a predetermined post-processing on the processing in the first processing unit 621 and the second processing unit 622 are provided.

[0191] In the above description, "positioning" can refer to, for example, the operation of aligning the center of a loaded item (e.g., the mouth of a container) with the center of a processing end (e.g., a filling nozzle), the operation of aligning a post-processing portion of an item (a specific location or a specific surface) with the working distance of the imaging process, the operation of aligning the position of a processing point with that of a tool, etc.

[0192] Although the embodiment of the present invention has been described above, the present invention is not limited to the contents thereof. Furthermore, various modifications can be made to the embodiment of the present invention without departing from the spirit of the invention. [Explanation of symbols]

[0193] 100 Item transport device 1. Conveyor section 10 Segments 101 Plate section 102 Auxiliary equipment housing 103 Top surface 11 First conveyor path 12 Second conveyor path 13 Transport rail 131 First Link 132 Second Link 141 First Connection 142 Second Connection 15 Protrusion 161 Route 1 162 Route 2 17 Bypass Road 171 First Bypass 172 Second Bypass 181 First Preliminary Processing Unit 182 Second Preliminary Processing Unit 183 3rd Preliminary Processing Unit 2 Transport Shuttle 201 First Transport Shuttle 202 Second Transport Shuttle 21 Shuttle body 21d Bottom surface 21c internal 21u top 22 Article holding part 221 1st article holding section 222 Second article holding section 23 Identification element 3. Conveyor mechanism 31 Electromagnet 311 Levitation coil 312 Moving Coil 32 Permanent magnets 33 Driver circuit 4. Controller 41 Arithmetic circuit 42 Memory circuit 51 First initial processing section 511 Sending route 512 Inlet route 52 Second initial processing section 521 Sending route 522 Inlet route 53 Post-processing section 61 1st work area 611 First Processing Section 612 Second Processing Section 613 Post-processing section 614 Sending route 615 Inlet route 616 Sending route 617 Inlet route 62 2nd work area 621 First Processing Section 622 Second Processing Section 623 Post-processing section 71 First Loading Section 72 Second Loading Section 81 First Unloading Section 82 Second Unloading Section

Claims

1. A conveying section having a flat upper surface; a transport shuttle capable of holding an article and moving along an upper surface of the transport section; a transport mechanism that uses a magnetic force to levitate the transport shuttle above the upper surface of the transport section and move the transport shuttle along the upper surface of the transport section, The transport unit, in a plan view, A conveying path; a protruding portion protruding from the transport path; a processing unit provided on the protruding portion and configured to perform a predetermined process on an article held by the transport shuttle; The transport mechanism is configured to be capable of moving the transport shuttle in both an outgoing direction from the transport path to the processing section and an ingoing direction from the processing section to the transport path, The transport shuttle is capable of moving from the protrusion in both the outgoing direction and the incoming direction.

2. At least a portion of the transport path connected to the protruding portion is An inlet route toward the protruding portion, The article transport device according to claim 1 , wherein the transport shuttle heading toward the protrusion is capable of waiting on the feed route.

3. The article transport apparatus according to claim 1 , wherein the processing section includes an input section that inputs the article into the transport shuttle and an output section that outputs the article from the transport shuttle.

4. 2. The article transport apparatus according to claim 1, wherein the transport mechanism slows down the moving speed of the transport shuttle at least in the processing section compared to the moving speed of the transport shuttle in the transport path.

Images