Conveyance device, conveyance method, and program

Abstract

To provide a conveyance device that can more easily return a workpiece to a main line.SOLUTION: A conveyance device 10 includes a main line 20, a branch line 30, a merging wheel 50, and a control device. The branch line 30 is provided separately from the main line 20. The merging wheel 50 sends a merging workpiece W20 disposed on the branch line 30 to the main line 20. The control device controls the merging wheel 50. When a gap between two workpieces W10 and W10 flowing on the main line 20 satisfies a predetermined condition, the control device 90 transfers the merging workpiece W20 from the branch line 30 to the main line 20 so that the merging workpiece W20 is located in the gap.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a conveying device, a conveying method, and a program. [Background technology]

[0002] Conventionally, there is an apparatus described in the following Patent Document 1. In the apparatus described in Patent Document 1, products flowing in a main line are inspected, and if a defect is detected, the product is discharged into a discharge chute by a discharge device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-112835 Summary of the Invention [Problem to be solved by the invention]

[0004] In the device described in Patent Document 1, a product in which a defect was detected could not be re-inspected, and if it was again determined to be a non-defective product, it could not be returned to the main line. The present invention has been made in view of the above circumstances, and its purpose is to provide a conveying device, a conveying method, and a program that can more easily return a workpiece to the main line. [Means for solving the problem]

[0005] A conveying device that solves the above problem includes a first line along which a plurality of objects flow in a predetermined conveying direction, a second line provided separately from the first line, a first transfer unit that sends a first object arranged on the second line to the first line, and a control unit that controls the first transfer unit. When a gap between a second object and a third object that are continuously conveyed among the plurality of objects conveyed on the first line satisfies a first condition, the control unit transfers the first object from the second line to the first line so that the first object is located in the gap.

[0006] A conveying method that solves the above problem is a conveying method in which objects arranged on a second line provided separately from the first line are sent onto a first line along which multiple objects flow in a predetermined conveying direction, in which a computer controls a first transfer unit that sends a first object arranged on the second line onto the first line, and when a gap between a second object and a third object that are being conveyed consecutively among the multiple objects being conveyed on the first line satisfies a first condition, the first object is transferred from the second line to the first line so that the first object is positioned in the gap.

[0007] A program that solves the above problem is a program that causes a computer to function as a control device for sending an object placed on a second line that is provided separately from the first line onto a first line along which multiple workpieces flow in a predetermined conveying direction, and causes the computer to control a first transfer unit that sends a first object placed on the second line onto the first line, and when the gap between a second object and a third object that are being conveyed consecutively among the multiple objects being conveyed on the first line satisfies a first condition, the first object is transferred from the second line to the first line so that the first object is positioned in the gap.

[0008] According to these, the merging workpiece can be returned to the main line by the rotational action of the merging mechanism, making it easier to return the workpiece to the main line. [Effects of the Invention]

[0009] According to the transport device of the present invention, it is possible to more easily return the workpiece to the main line. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating a schematic configuration of a transport device according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the electrical configuration of the transport device according to the embodiment. [Figure 3] 5A to 5C are diagrams illustrating an example of the operation of the transport device according to the embodiment. [Figure 4] FIG. 2 is a plan view showing a planar structure around a merging wheel of the conveying device according to the embodiment. [Figure 5] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 6] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 7] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 8] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 9] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 10] 6 is a graph showing an example of a reference speed profile according to the embodiment. [Figure 11] 10 is a graph showing an example of a speed adjustment profile according to an embodiment. [Figure 12] 6 is a graph showing an example of a reference speed profile according to the embodiment. [Figure 13] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 14] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 15] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 16] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 17] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 18] 10A and 10B are diagrams illustrating an example of the operation of a merging wheel according to an embodiment. [Figure 19] 6 is a graph showing an example of a reference speed profile according to the embodiment. [Figure 20] 6 is a graph showing an example of a reference speed profile according to the embodiment. [Figure 21] 4 is a flowchart showing a procedure of a process executed by the control device of the embodiment. [Figure 22]FIG. 1 is a block diagram showing a hardware configuration of a computer according to an embodiment. [Figure 23] FIG. 10 is a plan view showing a planar structure around a merging wheel of a conveying device according to a first modified example of an embodiment; [Figure 24] 10 is a graph showing an example of a reference speed profile according to a second modified example of the embodiment. [Figure 25] 10 is a graph showing an example of a reference speed profile according to a second modified example of the embodiment. [Figure 26] 10 is a graph showing an example of a reference speed profile according to a second modified example of the embodiment. [Figure 27] 10 is a graph showing an example of a reference speed profile according to a second modified example of the embodiment. [Figure 28] 10 is a graph showing an example of a reference speed profile according to a second modified example of the embodiment. [Figure 29] 10 is a graph showing an example of a reference speed profile according to a second modified example of the embodiment. [Figure 30] 10(A) to 10(D) are graphs showing examples of reference speed profiles according to a third modified example of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of a conveying device, a conveying method, and a program will be described with reference to the drawings. To facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and duplicate descriptions will be omitted. <Embodiment> First, an outline of the transport device of this embodiment will be described.

[0012] (Overview of the transport device) The conveying device 10 of this embodiment shown in FIG. 1 is a device for sequentially inspecting a plurality of workpieces W10 flowing on a main line 20. The workpieces W10 are cylindrical objects, such as aluminum molded products or plastic bottle caps. Note that the workpieces W10 are not limited to cylindrical objects, and objects of any shape, such as rectangular objects, can be used. In this embodiment, the workpieces W10 are an example of the target object. As shown in FIG. 1, the conveying device 10 includes a main line 20, a branch line 30, a conveying wheel 40, a merging wheel 50, a discharge device 60, camera devices 70 and 71, and workpiece detection sensors 80 to 85.

[0013] The mainstream line 20 is configured by a device, such as a belt conveyor device, capable of transporting the workpieces W10 fed by the transport wheel 40 at a preset transport speed Vc10. The direction indicated by the arrow Dw in FIG. 1 indicates the direction in which the workpieces W10 flow on the mainstream line 20. Hereinafter, this direction Dw will also be referred to as the "workpiece transport direction Dw." The workpiece transport direction Dw will also be referred to as the rightward direction, and the opposite direction will also be referred to as the leftward direction. The multiple workpieces W10 flow along a predetermined axis m20 on the mainstream line 20 that is parallel to the workpiece transport direction Dw. In this embodiment, the mainstream line 20 is an example of a first line.

[0014] The transport wheel 40 is disposed upstream of the mainstream line 20. The transport wheel 40 is formed in a disk shape. The transport wheel 40 has multiple gripping portions 41 on its outer periphery for gripping the workpieces W10 located upstream of the mainstream line 20. The transport wheel 40 is disposed so that some of the multiple gripping portions 41 are located on the mainstream line 20. The transport wheel 40 rotates around its central axis m40 in the direction indicated by arrow C40, thereby transporting the workpieces W10 to the mainstream line 20 at predetermined time intervals. As a result, multiple workpieces W10 are arranged on the mainstream line 20 at a predetermined interval H10. Hereinafter, this interval H10 will also be referred to as the "work interval H10." The direction indicated by arrow C40 will also be referred to as the "rotation direction C40 of the transport wheel 40." Note that the operating speed of the transport wheel 40 is not limited to a constant speed.

[0015] The camera device 70 is disposed on the mainstream line 20 so as to be located downstream of the conveying wheel 40 in the workpiece conveying direction Dw. The camera device 70 sequentially captures images of the workpiece W10 being sent to the mainstream line 20 by the conveying wheel 40 to generate image data. The image data of the workpiece W10 generated by the camera device 70 is used, for example, to inspect whether the workpiece W10 is a non-defective product.

[0016] The tributary line 30 is formed so as to branch off from the main line 20 midway and extend parallel to the main line 20. Workpieces W20 discharged from the main line 20 by a discharge device 60 flow through the tributary line 30. The workpieces W20 are, for example, workpieces determined to be defective based on image data generated by a camera device 70, or workpieces for sampling inspection. The tributary line 30 is configured by a device, such as a belt conveyor device, capable of transporting the workpieces W20 at a preset transport speed Vc20. In the tributary line 30, the workpieces W20 flow in the transport direction Dw, similar to the main line 20. In this embodiment, the tributary line 30 is an example of a second line.

[0017] The discharge device 60 is a device that discharges the workpiece W10 flowing on the main line 20 to the tributary line 30. In this embodiment, an air nozzle that sprays air toward a discharge position P10 on the main line 20 is used as the discharge device 60. When the workpiece W10 flowing on the main line 20 is positioned at the discharge position P10, the discharge device 60 sprays air toward the discharge position P10, thereby blowing the workpiece W10 toward the tributary line 30. The discharge device 60 sprays air toward the workpiece W10 determined to be defective by the camera device 70 or the workpiece W10 for sampling inspection, thereby discharging the workpiece W10 to the tributary line 30. In this embodiment, the discharge device 60 is an example of a second transfer unit. In addition, the condition that the workpiece W10 is defective or the condition that the workpiece W10 is subject to sampling inspection is an example of a second condition.

[0018] The camera device 71 is disposed midway along the tributary line 30. The camera device 71 sequentially captures images of the workpiece W20 discharged by the discharge device 60 to generate image data. The image data generated by the camera device 71 is used, for example, to inspect whether the workpiece W20 is a non-defective product. Note that instead of inspecting the workpiece W20 with the camera device 71, it is also possible to employ a method in which an operator visually inspects the workpiece W20.

[0019] The merging wheel 50 is provided at the lower end of the tributary line 30 in the workpiece conveying direction Dw. The merging wheel 50 is formed in a disk shape. The merging wheel 50 has a plurality of gripping portions 51 on its outer periphery for gripping the workpiece W20 located downstream of the tributary line 30. The merging wheel 50 is arranged so that the left portion of its lower half spans the lower end of the tributary line 30 and an intermediate portion of the mainstream line 20. The merging wheel 50 rotates around its central axis m50 in the direction indicated by arrow C50, thereby returning the workpiece W20 located on the tributary line 30 to the mainstream line 20. Hereinafter, the direction indicated by arrow C50 will also be referred to as the "rotation direction C50 of the merging wheel 50." In this embodiment, the merging wheel 50 is an example of a first transfer portion.

[0020] The workpiece detection sensors 80 to 82 are arranged on the mainstream line 20. More specifically, the workpiece detection sensor 80 is arranged on the mainstream line 20 between the transport wheel 40 and the camera device 70. The workpiece detection sensor 81 is arranged downstream of the discharge device 60 on the mainstream line 20. The workpiece detection sensor 82 is arranged downstream of the merging wheel 50 on the mainstream line 20. Each of the workpiece detection sensors 80 to 82 detects the behavior of the workpiece W10 at the respective point.

[0021] The workpiece detection sensors 83, 84 are arranged on the tributary line 30. More specifically, the workpiece detection sensor 83 is arranged upstream of the tributary line 30. The workpiece detection sensor 83 detects the passing behavior of the workpiece W20 discharged onto the tributary line 30 by the discharge device 60. The workpiece detection sensor 84 is arranged downstream of the workpiece detection sensor 83. The workpiece detection sensor 84 detects whether or not the workpiece W20 has passed. When the workpiece detection sensor 84 detects that the workpiece W20 has completed passing, an image of the workpiece W20 is captured by the camera device 71.

[0022] The workpiece detection sensor 85 is provided at a portion through which the workpiece W20 passes when it is returned to the mainstream line 20 by the merging wheel 50. The workpiece detection sensor 85 detects the behavior of the workpiece W20 being returned to the mainstream line 20. As shown in FIG. 2, the transport device 10 further includes a control device 90, actuator devices 91 and 92, and conveyor devices 93 and 94. The actuator device 91 is configured with a motor and the like, and applies torque to the transport wheel 40, thereby rotating the transport wheel 40. The actuator device 92 is similarly configured with a motor and the like, and applies torque to the merging wheel 50, thereby rotating the merging wheel 50. The conveyor device 93 is a device that constitutes the main line 20, and conveys the work W10. The conveyor device 94 is a device that constitutes the branch line 30, and conveys the work W20.

[0023] The control device 90 controls the conveyor devices 93 and 94. The control device 90 also receives detection signals output from the workpiece detection sensors 80 to 85. The control device 90 executes a program stored in a storage device to perform various control processes for controlling the transport wheel 40, the merging wheel 50, the discharge device 60, and the camera devices 70 and 71 based on the detection signals from the workpiece detection sensors 80 to 85. The control device 90 may also execute various control processes using position information of the workpieces W10 and W20 detected by the camera devices 70 and 71.

[0024] For example, the control device 90 executes rotation control to periodically rotate the conveying wheel 40 via the actuator device 91 so that the workpieces W10 flow into the main line 20 at predetermined intervals H10. The control device 90 also drives the camera device 70 at a predetermined cycle corresponding to the conveying speed Vc10 of the workpiece W10 on the main line 20 and the workpiece interval H10, thereby sequentially capturing images of the workpiece W10 flowing along the main line 20. The control device 90 also analyzes the image data generated by the camera device 70 to determine whether the captured workpiece W10 is a non-defective product. If the control device 90 determines that a given workpiece W10 is defective, the control device 90 drives the discharge device 60 when the workpiece W10 passes the discharge position P10, thereby discharging the workpiece W10 toward the branch line 30. Alternatively, the control device 90 drives the discharge device 60 at a predetermined cycle as a sampling inspection of the workpiece W10 flowing along the main line 20, thereby discharging the workpiece W10 toward the branch line 30.

[0025] When the control device 90 detects that the workpiece W20 has passed by the workpiece detection sensor 84, it drives the camera device 71 to capture an image of the workpiece W20. The control device 90 also analyzes the image data generated by the camera device 71 to determine whether the workpiece W20 is a non-defective product. The workpiece W20 determined to be a non-defective product by the control device 90 flows directly through the tributary line 30 and is sent to the merging wheel 50. The workpiece W20 determined to be a defective product by the control device 90 is removed from the tributary line 30 automatically by a removal device (not shown) or manually by an operator.

[0026] When a gap is formed between multiple workpieces W10 flowing on the mainstream line 20, the control device 90 executes rotation control to rotate the merging wheel 50 via the actuator device 92 so that the merging workpiece W20 is placed in the gap. For example, when the discharge device 60 is driven to remove workpiece W12 on the mainstream line 20 to the tributary line 30 as shown in FIG. 1, a gap G is formed between workpiece W11 and workpiece W13. Thereafter, when the gap G is displaced to the merging wheel 50 as shown in FIG. 3, the control device 90 drives the merging wheel 50 via the actuator device 92 to send the workpiece W20 placed on the tributary line 30 into the gap G in the mainstream line 20.

[0027] The control device 90 may arbitrarily form a gap G between two workpieces W10 by temporarily stopping the periodic rotation of the conveying wheel 40. Furthermore, instead of the method of generating the gap G based on the driving of the discharge device 60 or based on the temporary stopping of the conveying wheel 40, the control device 90 may detect the gap G based on the conveying status of the workpiece W20 on the main line 20 detected by, for example, the workpiece detection sensor 81.

[0028] (Structure of the merging wheel and its surrounding conveying device) Next, the structure of the merging wheel 50 and the surrounding area of the conveyance device 10 will be described. Note that, hereinafter, the workpiece W20 will also be referred to as the "merging workpiece W20." In this embodiment, the merging workpiece W20 is an example of a first object.

[0029] As shown in FIG. 4, multiple gripping portions 51 are formed at equal angular intervals on the outer periphery of the merging wheel 50. FIG. 4 illustrates an example in which six gripping portions 51 are formed at 60-degree intervals on the outer periphery of the merging wheel 50. In this embodiment, 60 degrees is an example of the predetermined angular interval. The gripping portion 51 is configured as a single engaging claw that engages with the merging workpiece W20 in the direction opposite to the rotation direction C50. The contact portion 510 of the gripping portion 51 with which the merging workpiece W20 comes into contact has an arc-shaped curve corresponding to the outer periphery of the merging workpiece W20. Therefore, as shown in FIG. 4, the contact portion 510 can come into surface contact with the merging workpiece W20. The non-contact portion 511 of the gripping portion 51 opposite the contact portion 510 is formed linearly so as to extend parallel to the workpiece transport direction Dw when the gripping portion 51 is positioned along the main flow line 20 as shown in FIG. 4.

[0030] A fitting hole 52 into which the output shaft 920 of the actuator device 92 fits is formed in the center of the merging wheel 50. With this configuration, torque is applied from the output shaft 920 of the actuator device 92 to the merging wheel 50, causing the merging wheel 50 to rotate in a rotational direction C50. Hereinafter, the rotation position of the merging wheel 50 shown in FIG. 4 will also be referred to as the "reference position." When the merging wheel 50 is located at the reference position shown in FIG. 4, grippers 51 are disposed on the left and right sides of the merging wheel 50, respectively. Hereinafter, the gripper 51 disposed on the left side of the merging wheel 50 will also be referred to as the "target gripper 51a."

[0031] The conveying device 10 further includes guide walls 100 , 101 , and 110 arranged around the junction wheel 50 . The guide walls 100, 101 are disposed on the left side of the merging wheel 50. The guide walls 100, 101 are disposed to face each other at a predetermined interval in a direction perpendicular to the workpiece transport direction Dw. The guide walls 100, 101 are formed to extend in the workpiece transport direction Dw. The guide walls 100, 101 guide the movement of the merging workpiece W20 in the tributary line 30 so that the merging workpiece W20 flowing in the tributary line 30 is guided to the target gripping portion 51a.

[0032] The right side surface 101a of the guide wall 101 has an arc-shaped curved shape. When the merging wheel 50 rotates, the right side surface 101a of the guide wall 101 guides the movement of the merging workpiece W20 from the tributary line 30 toward the mainstream line 20. In this embodiment, the guide wall 101 is an example of a first guide wall.

[0033] The guide wall 110 is disposed opposite the merging wheel 50 across the mainstream line 20. A curved recess 110a is formed in the outer wall portion of the guide wall 110 located on the mainstream line 20 side. The guide wall 110, together with the non-contact portion 511 of the merging wheel 50, guides the movement of the merging workpiece W20 sent from the tributary line 30 to the mainstream line 20 by the rotation of the merging wheel 50 so that the merging workpiece W20 is positioned on the axis m20 of the mainstream line 20. In this embodiment, the guide wall 110 is an example of a second guide wall.

[0034] (Example of merging wheel operation) Next, an example of the operation of the merging wheel 50 will be described. When the converging workpiece W20 on the branch line 30 is caused to merge with the main line 20, the control device 90 causes the converging workpiece W20 to merge between the two workpieces W11 and W13 by rotating the converging wheel 50 as shown in Figures 5 to 9. More specifically, when the target insertion position Pw between the works W11 and W13 is displaced to the converging point Pm on the main line 20, the control device 90 places the converging workpiece W20 at the target insertion position Pw.

[0035] Hereinafter, of the workpieces W11 and W13, the workpiece W13 arranged upstream in the workpiece transfer direction Dw will be referred to as the "upstream workpiece W13," and the workpiece W11 arranged downstream in the workpiece transfer direction Dw will be referred to as the "downstream workpiece W11." In this embodiment, the downstream workpiece W11 is an example of a second object, and the upstream workpiece W13 is an example of a third object. In addition, in the merging wheel 50, the gripping unit 51 arranged forward in the rotation direction C50 with respect to the target gripping unit 51a gripping the merging workpiece W20 will be referred to as the leading gripping unit 51b. FIG. 5 illustrates a case in which the merging workpiece W20 is gripped by the target gripping unit 51a in the merging wheel 50, and the merging workpiece W20 is not gripped by the leading gripping unit 51b. In FIG. 5, the merging workpiece W30, as assumed to be gripped by the leading gripping unit 51b, is shown by a two-dot chain line. Hereinafter, this junction work W30 will also be referred to as a "virtual junction work W30."

[0036] When the merging workpiece W20 is made to merge with the mainstream line 20, the control device 90 executes rotation control to drive the merging wheel 50 using a reference speed profile Pb10 as shown in FIG. 10. The reference speed profile Pb10 shown in FIG. 10 shows the relationship between the rotation angle θ and the angular velocity ω of the merging wheel 50 using a solid line. The dashed-dotted line Lc shown in FIG. 10 shows the work transport velocity Vc of the mainstream line 20. The synchronous angular velocity ωa shown in FIG. 10 is the angular velocity at which the tangential velocity of the merging wheel 50 coincides with the work transport velocity Vc. In other words, if the radius of the merging wheel 50 is "r", then the relationship "Vc = r × ωa" holds between the work transport velocity Vc and the synchronous angular velocity ωa.

[0037] Before the rotation control is started by the control device 90, the merging wheel 50 is stopped at the reference position shown in FIG. 5. The control device 90 starts the rotation control when the target insertion position Pw in the main flow line 20 is displaced to the position shown in FIG. 5. Specifically, when the merging wheel 50 is rotated based on the reference speed profile Pb10, the merging work displacement time Ta, which is the time required for the merging work W20 to be displaced from the position shown in FIG. 5 to the position shown in FIG. 9, is determined in advance. The control device 90 starts the rotation control at a time point that is the merging work displacement time Ta before the target insertion position Pw reaches the merging point Pm.

[0038] When the control device 90 starts the rotation control of the merging wheel 50, first, based on the reference speed profile Pb10 shown in FIG. 10, acceleration control for accelerating the merging wheel 50 is executed during the period in which the merging wheel 50 rotates from 0 degrees to 45 degrees. The acceleration control is executed based on the virtual merging work W30 located at the leading gripping portion 51b. Specifically, in the acceleration control, the merging wheel 50 is accelerated so that the gap in the work conveyance direction Dw formed between the virtual merging work W30 and the downstream work W11 changes in the form of H30 shown in FIG. 5, H31 shown in FIG. 6, and H32 shown in FIG. 7. Note that there is a relationship of "H30 < H31 < H32" between the gaps H30 to H32. As shown in FIG. 7, when the merging wheel 50 rotates up to 45 degrees, that is, when the acceleration control is completed, a predetermined gap is formed between the leading gripping portion 51b and the downstream work W11 as shown in FIG. 7. Thereby, interference of the leading gripping portion 51b with the downstream work W11 is avoided. Note that the gap H32 formed between the virtual merging work W30 and the downstream work W11 shown in FIG. 7 is, for example, about 5 mm to 10 mm.

[0039] The control device 90 executes acceleration control until the merging wheel 50 rotates 45 degrees as shown in FIG. 7, and then executes synchronization control. The synchronization control is a control that rotates the merging wheel 50 so that the speed Vw of the merging workpiece W20 held by the target gripping unit 51a in the workpiece transport direction Dw is synchronized with the speed of the workpiece W10 flowing on the main line 20, in other words, the transport speed Vc10. The speed Vw of the merging workpiece W20 held by the target gripping unit 51a in the workpiece transport direction Dw corresponds to, for example, the speed component of the workpiece W20 in the workpiece transport direction Dw shown in FIG. 7. The control device 90 gradually decelerates the angular velocity of the merging wheel 50 during the period in which the merging wheel 50 rotates from 45 degrees to 90 degrees based on the reference speed profile Pb10 shown in FIG. 10. As a result, during the period in which the joining wheel 50 rotates from 45 degrees to 90 degrees, the joining workpiece W20 is displaced in the workpiece conveying direction Dw at a speed synchronized with the conveying speed Vc10.

[0040] However, if a predetermined gap H32 is formed between the leading gripper 51b and the downstream workpiece W11 when the merging wheel 50 is displaced to 45 degrees as shown in FIG. 7, and if synchronization control is subsequently performed based on the reference speed profile Pb10 shown in FIG. 10, the merging workpiece W20 cannot be placed at the target insertion position Pw between the workpieces W11 and W13. Specifically, when the target insertion position Pw between the workpieces W11 and W13 is located at the merging point Pm on the main line 20, the predetermined gap H32 also forms between the merging workpiece W20 and the target insertion position Pw. To resolve this, the control device 90 further performs acceleration adjustment control during the period when synchronization control is being performed, more specifically, during the period when the merging wheel 50 rotates from 60 degrees to 90 degrees, as shown in FIG. Specifically, the control device 90 adds a speed adjustment profile Pa as shown in Fig. 11 to the reference speed profile Pb10 to control the speed of the merging wheel 50, thereby adjusting the merging wheel 50 to slightly accelerate during synchronization control. As a result, as shown in Figs. 7 to 9, the merging workpiece W20 is displaced so as to gradually approach the target insertion position Pw in the workpiece conveying direction Dw. As a result, as shown in Fig. 9, when the target insertion position Pw between the works W11 and W13 is located at the merging point Pm on the main line 20, the merging workpiece W20 can be displaced to the merging point Pm. Therefore, the merging workpiece W20 can be more reliably placed at the target insertion position Pw.

[0041] The control device 90 performs synchronization control until the merging wheel 50 rotates 90 degrees as shown in Fig. 9, and then performs deceleration control. The deceleration control is control that gradually decelerates and stops the merging wheel 50. The control device 90 performs deceleration control during the period in which the merging wheel 50 rotates from 90 degrees to 120 degrees based on the reference speed profile Pb10 shown in Fig. 10. As a result, after the merging wheel 50 rotates 120 degrees, it stops at the reference position shown in Fig. 5.

[0042] On the other hand, when workpieces W10 flowing on the main line 20 are continuously discharged onto the tributary line 30 by the discharge device 60, a gap corresponding to two or more workpieces W10 may be formed between the downstream workpiece W11 and the upstream workpiece W13 flowing on the main line 20. In this case, the control device 90 rotates the merging wheel 50 so as to merge the merging workpieces W20 consecutively. FIG. 12 shows a reference speed profile Pb20 used when merging three merging workpieces W20 consecutively. Based on the reference speed profile Pb20 shown in FIG. 12, the control device 90 gradually decelerates the angular velocity of the merging wheel 50 while the merging wheel 50 rotates from 45 degrees to 90 degrees, and then gradually accelerates the angular velocity of the merging wheel 50 while the merging wheel 50 rotates from 90 degrees to 120 degrees. Thereafter, the control device 90 gradually decelerates the angular velocity of the merging wheel 50 while the merging wheel 50 rotates from 120 degrees to 150 degrees, and then gradually accelerates the angular velocity of the merging wheel 50 while the merging wheel 50 rotates from 150 degrees to 180 degrees. The control device 90 gradually decelerates the angular velocity of the merging wheel 50 while the merging wheel 50 rotates from 180 degrees to 210 degrees. As a result, the merging workpiece W20 is displaced in the workpiece conveying direction Dw at a speed synchronized with the conveying speed Vc10 while the merging wheel 50 rotates from 45 degrees to 210 degrees. The control device 90 then executes deceleration control while the merging wheel 50 rotates from 210 degrees to 240 degrees.

[0043] In addition, the control device 90 further performs acceleration adjustment control based on the speed adjustment profile Pa as shown in Figure 11 during the period when synchronization control is being performed, more specifically during the period when the merging wheel 50 rotates from 60 degrees to 90 degrees, thereby more reliably placing the merging workpiece W20 at the target insertion position Pw.

[0044] The speed control of the merging wheel 50 is performed by adding the reference speed profile Pa shown in FIG. 11 to the reference speed profile Pb20 shown in FIG. 12, so that the merging wheel 50 operates as shown in FIGS. 13 to 18. Specifically, before the control device 90 starts controlling the rotation of the merging wheel 50, the merging wheel 50 is stopped at the reference position shown in Fig. 13. In this state, the control device 90 starts the rotation of the merging wheel 50 based on the reference speed profile Pb20 shown in Fig. 11. When the merging wheel 50 rotates 60 degrees as shown in Fig. 14, the merging wheel 50 is gripped by the gripper 51c next to the gripper 51a. Next, when the merging wheel 50 rotates 90 degrees as shown in Fig. 15, the merging workpiece W20 gripped by the gripper 51a merges with the mainstream line 20. After that, when the merging wheel 50 rotates 120 degrees as shown in Fig. 16, the merging wheel 50 is further held by the gripper 51d next to the gripper 51c. 17, when the merging wheel 50 rotates by 150 degrees, the merging workpiece W20 held by the gripping portion 51c merges with the mainstream line 20. Furthermore, when the merging wheel 50 rotates by 210 degrees, as shown in FIG. 18, the merging workpiece W20 held by the gripping portion 51d merges with the mainstream line 20. In this way, the speed control of the merging wheel 50 is performed by adding the speed adjustment profile Pa shown in FIG. 11 to the reference speed profile Pb20 shown in FIG. 12, so that the merging workpiece W20 can be continuously merged with the mainstream line 20.

[0045] In the synchronous control of the reference speed profile Pb20 shown in Fig. 12, the same speed profile is used in the period when the rotation angle θ is from 60 degrees to 120 degrees and in the period when the rotation angle θ is from 120 degrees to 180 degrees. By increasing or decreasing the number of repetitions of the speed profile used in these periods, it is possible to increase or decrease the number of merging workpieces W20 that are to be continuously merged.

[0046] On the other hand, when the pitch between adjacent grippers 51, 51 shown in FIG. 5 is defined as the pocket pitch Lp and the pitch between adjacent workpieces W20 on the main line 20 is defined as the workpiece pitch Lw, if the pocket pitch Lp and the workpiece pitch Lw are approximately equal (Lp ≈ Lw), when merging workpieces W20 are to be continuously merged, the merging wheel 50 can be controlled based on the reference speed profile Pb20 shown in FIG. 12. That is, as shown in FIG. 12, acceleration adjustment control based on the speed adjustment profile Pa can be further executed during the period when the merging wheel 50 rotates from 60 degrees to 90 degrees based on the reference speed profile Pb20. Furthermore, when the pocket pitch Lp and the workpiece pitch Lw satisfy "Lp × 2 > Lw," the merging wheel 50 can be controlled in a similar manner.

[0047] On the other hand, if the pocket pitch Lp and the workpiece pitch Lw satisfy the relationship "Lp > Lw," i.e., if the pocket pitch Lp is longer than the workpiece pitch Lw, continuing synchronization control during the period in which the merging wheel 50 rotates from 90 degrees to 210 degrees will cause the positions of the second and subsequent merging workpieces W20 placed on the mainstream line 20 by the merging wheel 50 to deviate from the target insertion position Pw. More specifically, the positions of the second and subsequent merging workpieces W20 will lag behind the target insertion position Pw by the deviation (Lp - Lw) between the pocket pitch Lp and the workpiece pitch Lw. In other words, they will deviate upstream in the workpiece conveyance direction Dw. To avoid this, if the pocket pitch Lp and the workpiece pitch Lw satisfy the relationship "Lp > Lw," the control device 90 additionally performs acceleration adjustment control on the reference speed profile Pb20 as shown in FIG. 19. Specifically, the control device 90 further executes acceleration adjustment control during the period when the merging wheel 50 rotates from 120 degrees to 150 degrees and during the period when the merging wheel 50 rotates from 180 degrees to 210 degrees. This makes it possible to more reliably place the second and subsequent merging workpieces W20 at the target insertion position Pw.

[0048] Also, when the pocket pitch Lp and the work pitch Lw satisfy "Lp < Lw < 2×Lp", even when the synchronous control is continued during the period in which the merging wheel 50 rotates from 90 degrees to 210 degrees, the positions of the second and subsequent merging works W20 arranged on the main flow line 20 by the merging wheel 50 deviate from the target insertion position Pw. More specifically, the positions of the second and subsequent merging works W20 are ahead of the target insertion position Pw by the deviation (Lp - Lw) between the pocket pitch Lp and the work pitch Lw. In other words, they deviate to the downstream side in the work conveyance direction Dw from the target insertion position Pw. To avoid this, when the pocket pitch Lp and the work pitch Lw satisfy "Lp < Lw < 2×Lp", the control device 90 executes additional deceleration adjustment control with respect to the reference speed profile Pb20 as shown in FIG. 20. Specifically, the control device 90 executes deceleration adjustment control during each of the periods in which the merging wheel 50 rotates from 90 degrees to 120 degrees and from 150 degrees to 180 degrees. The deceleration adjustment control is executed by subtracting the speed adjustment profile Pa shown in FIG. 11 from the reference speed profile Pb20 as shown in FIG. 20. Thereby, it becomes possible to more reliably arrange the second and subsequent merging works W20 at the target insertion position Pw.

[0049] In addition, when the leading grip portion 51b interferes with the downstream work W11 when the control device 90 performs acceleration adjustment control during the period in which the merging wheel 50 rotates from 60 degrees to 90 degrees, the control device 90 may execute deceleration adjustment control instead of the acceleration adjustment control. (Control Example of Control Device) Next, referring to FIG. 21, the procedure of the rotation control of the merging wheel 50 by the control device 90 will be described. The control device 90 executes the process shown in FIG. 21 when a gap is formed in the work W10 flowing through the main flow line 20 by the drive control of the conveyance wheel 40 or the drive of the discharge device 60.

[0050] As shown in FIG. 21, the control device 90 first determines whether it is time to start acceleration control (step S10). For example, when the target insertion position Pw on the mainstream line 20 has shifted to the position shown in FIG. 5, the control device 90 determines that it is time to start acceleration control (step S10: YES) and executes acceleration control for a period until the merging wheel 50 rotates 45 degrees from the reference position shown in FIG. 5 (step S11). Next, the control device 90 executes synchronization control for a period until the merging wheel 50 rotates another 45 degrees (step S12), and then determines whether there are any merging workpieces W20 that should be successively merged (step S13). If there are no merging workpieces W20 that should be successively merged with the mainstream line 20 (step S13: NO), for example, if only one merging workpiece W20 is to be merged with the mainstream line 20, the control device 90 executes deceleration control (step S14: NO) to stop the merging wheel 50.

[0051] On the other hand, if there is a merging workpiece W20 that should be successively merged with the mainstream line 20 (step S13: YES), the control device 90 continues the synchronization control for a period during which the merging wheel 50 rotates by an additional 60 degrees (step S15), and then returns to step S13. In this way, the control device 90 causes the merging workpiece W20 to merge successively with the mainstream line 20 by continuing to rotate the merging wheel 50 by 60 degrees until there is no more merging workpiece W20 that should be successively merged with the mainstream line 20. Then, when there is no more merging workpiece W20 that should be successively merged with the mainstream line 20 (step S13: NO), the control device 90 executes deceleration control (step S14) and stops the merging wheel 50.

[0052] (Hardware configuration of the control device) Next, the hardware configuration of the control device 90 will be described. FIG. 22 shows the hardware configuration of a computer 200 when the control device 90 is realized by the computer 200.

[0053] As shown in FIG. 22, the computer 200 is, for example, a personal computer, and includes a processor 201 such as a CPU or MPU, a communication unit 202 that enables wireless communication and wired communication, a memory unit 203, an input unit 204, and a display unit 205. The processor 201 executes programs stored in the storage unit 203 to implement various functions of the computer 200. The storage unit 203 is, for example, a computer-readable recording medium such as a disk drive or semiconductor memory. The storage unit 203 stores programs for implementing various functions of the computer 200 and various data used by the programs. The input unit 34 is, for example, a keyboard, a touch panel, a mouse, a microphone, a camera, etc. The display unit 35 is, for example, an organic EL display, a liquid crystal display, etc.

[0054] (Actions and Effects of the Conveying Device of the Embodiment) As described above, the conveying device 10 of this embodiment includes a mainstream line 20 (first line), a branch line 30 (second line), a merging wheel 50 (first transfer unit), and a control device 90 (control unit). A plurality of workpieces W10 (objects) flow along the mainstream line 20 in a predetermined conveying direction Dw. The branch line 30 is provided separately from the mainstream line 20. The merging wheel 50 sends the merging workpieces W20 (first objects) arranged on the mainstream line 20 into the mainstream line 20 by rotating. The control device 90 controls the merging wheel 50. When the gap G between the downstream work W11 (second object) and the upstream work W13 (third object) that are being transported continuously among the multiple works W10 being transported on the main line 20 satisfies the condition (first condition) that one or more works W10 can be inserted, the control device 90 transfers the merging work W20 from the branch line 30 to the main line 20 so that the merging work W20 is positioned in the gap G. According to this configuration, the merging workpiece W20 can be returned to the mainstream line 20 by the rotational action of the merging wheel 50, making it possible to return the workpiece to the mainstream line 20 more easily.

[0055] The merging wheel 50 is formed with a plurality of gripping portions 51 capable of gripping the merging workpiece W20. In the rotation control, the control device 90 executes acceleration control to rotate the stopped merging wheel 50 so as to accelerate it in the rotation direction C50 until the leading gripping portion 51b approaches the downstream workpiece W11, as shown in Figures 5 to 7, and then executes synchronization control to rotate the merging wheel 50 so that the merging workpiece W20 gripped by the target gripping portion 51a is displaced in the workpiece transport direction Dw at the same speed as the workpiece W10 on the mainstream line 20. According to this configuration, the merging workpiece W20 can be made to merge with the mainstream line 20 while avoiding the preceding gripping portion 51b from interfering with the downstream workpiece W11.

[0056] As shown in Figures 12, 19, and 20, the control device 90 performs synchronization control to rotate the merging wheel 50 by an angle of 120 degrees or more, i.e., greater than twice the angular interval of 60 degrees between the gripping portions 51 on the merging wheel 50. According to this configuration, it is possible to make the merging workpieces W20 merge with the main line 20 continuously.

[0057] As shown in Figure 19, in synchronization control, the control device 90 performs acceleration adjustment control to rotate the merging wheel 50 so that the merging work W20 is displaced at a faster speed in the conveying direction Dw than the work W10 on the main line 20 just before the merging wheel 50 reaches 90 degrees, 150 degrees, and 210 degrees, i.e., just before placing the merging work W20 at the target insertion position Pw. According to this configuration, even when the merging work W20 is continuously merged into the main line 20 when the pocket pitch Lp and the work pitch Lw satisfy "Lp>Lw", it is possible to more accurately position the merging work W20 at the target insertion position Pw.

[0058] As shown in FIG. 20, in the synchronous control, the control device 90 rotates the merging wheel 50 to perform deceleration adjustment control so that the merging work W20 is displaced at a speed slower than that of the work W10 on the main flow line 20 in the conveying direction Dw immediately after the merging wheel 50 reaches 90 degrees, 150 degrees, and 210 degrees, that is, immediately after the merging work W20 is arranged at the target insertion position Pw. According to this configuration, even when the merging work W20 is continuously merged into the main flow line 20 when the pocket pitch Lp and the work pitch Lw satisfy "Lp < Lw < 2 × Lp", it is possible to more accurately position the merging work W20 at the target insertion position Pw. <{

[0059] The gripping portion 51 is constituted by a single engaging claw that engages with the merging work W20 in a direction opposite to the rotation direction C50 of the merging wheel 50. The contact portion 510 where the merging work W20 contacts in the gripping portion 51 has a curved shape. The non-contact portion 511 on the opposite side of the portion where the merging work W20 contacts in the gripping portion 51 is formed linearly. According to such a configuration, the merging work W20 can be gripped by the contact portion 510 of the gripping portion 51. Further, the non-contact portion 511 of the gripping portion 51 can guide the flow of the work W20 flowing in the main flow line 20 or the merged work W20 merged into the main flow line 20.

[0060] The conveying device 10 further includes a guide wall 101 (first guide wall) provided on the outer periphery of the merging wheel 50 to guide the movement of the merging work W20 from the branch line 30 toward the main flow line 20. According to this configuration, it is possible to more accurately guide the merging work W20 from the branch line 30 to the main flow line 20.

[0061] The conveying device 10 further includes a guide wall 110 (second guide wall) arranged to face the merging wheel 50 across the main flow line 20. A curved recess 110a is formed in the outer wall portion located on the side of the main flow line 20 of the guide wall 110. According to this configuration, the merged workpiece W20 sent to the mainstream line 20 by the merged wheel 50 can be arranged on the axis m20 of the mainstream line 20.

[0062] (First Modification) Next, a first modified example of the transport device 10 of the embodiment will be described. 23, in the conveyance device 10 of this modified example, the recess 110a of the guide wall 110 is formed in a rectangular shape. An elastic member 110b capable of absorbing the impact when the merging wheel W20 collides is disposed in the recess 110a. The elastic member 110b is made of, for example, rubber.

[0063] (Second Modification) Next, a second modification of the transport device 10 of the embodiment will be described. The control device 90 of this modified example uses a reference speed profile Pb10 shown in FIG. 24 instead of the reference speed profile Pb10 shown in FIG. 10. With the reference speed profile Pb10 shown in FIG. 24, acceleration control is executed during the period when the merging wheel 50 rotates from 0 degrees to 15 degrees. This acceleration control accelerates the merging wheel 50 at a higher acceleration than the acceleration control of the reference speed profile Pb10 shown in FIG. 10. Furthermore, with the reference speed profile Pb10 shown in FIG. 24, synchronization control is executed during the period when the merging wheel 50 rotates from 15 degrees to 90 degrees. With the synchronization control, the angular velocity ω of the merging wheel 50 gradually decelerates during the period when the merging wheel 50 rotates from 15 degrees to 30 degrees, and gradually accelerates during the period when the merging wheel 50 rotates from 30 degrees to 60 degrees. Moreover, in the synchronous control, the angular velocity ω of the merging wheel 50 gradually decelerates during the period when the merging wheel 50 rotates from 60 degrees to 90 degrees. In the synchronous control, during the period when the merging wheel 50 rotates from 15 degrees to 60 degrees, the virtual merging workpiece W30 located at the preceding gripping unit 51b is controlled to be displaced at the same speed as the conveying speed Vc, and during the period when the merging wheel 50 rotates from 60 degrees to 90 degrees, the merging workpiece W20 gripped by the target gripping unit 51a is controlled to be displaced at the same speed as the conveying speed Vc.

[0064] Furthermore, when returning three merging workpieces W20 to the main line 20 in succession, the control device 90 uses the reference speed profile Pb20 shown in FIG. When the reference speed profiles Pb10 and Pb20 shown in Fig. 24 are used, the process of step S11 of the rotation control shown in Fig. 21 is changed to "execute acceleration control until rotation reaches 15 degrees," and the process of step S12 is changed to "execute synchronization control until rotation reaches a further 75 degrees."

[0065] The control device 90 can also use the reference speed profile Pb10 shown in Fig. 26 or the reference speed profile Pb20 shown in Fig. 27. Furthermore, the control device 90 can also use the reference speed profile Pb10 shown in Fig. 28 or the reference speed profile Pb20 shown in Fig. 29.

[0066] (Third Modification) Next, a third modified example of the transport device 10 of the embodiment will be described. The control device 90 of this modified example executes rotation control of the joining workpiece 50 using the reference speed profile Pb90 shown in FIG. 30(A). With this reference speed profile Pb90, the joining wheel 50 rotates from 0 degrees to 60 degrees, i.e., the joining wheel 50 rotates by one pitch. As a result, the joining wheel 50 rotates, for example, from the reference position shown in FIG. 5 to the position shown in FIG. 8. Then, after the joining wheel 50 stops at the position shown in FIG. 8, the joining workpiece W20 uses the joining wheel 50 as a guide to join the mainstream line 20 along the flow of the mainstream line 20.

[0067] The control device 90 can also use the reference speed profile Pb90 shown in FIGS. 30(B) to 30(D) instead of the reference speed profile Pb90 shown in FIG. 30(A).

[0068] <Other embodiments> The present disclosure is not limited to the above specific examples. For example, the non-contact portion 511 of the merging wheel 50 is not limited to a straight line, and may have a curved shape with a smaller curvature than the contact portion 510, for example.

[0069] The number of gripping portions 51 formed on the merging wheel 50 can be changed as appropriate. Also, the shape of the gripping portions 51 can be changed as appropriate. The shape of the joining wheel 50 is not limited to a disk shape, and can be changed to any shape that allows the joining workpiece W20 to be sent to the main line 20.

[0070] Design modifications made by a person skilled in the art to the above specific examples as appropriate are also included within the scope of the present disclosure as long as they comprise the features of the present disclosure. The elements of each of the above specific examples, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and can be modified as appropriate. The elements of each of the above specific examples can be combined as appropriate as long as no technical contradictions arise.

[0071] <Additional Notes> Next, the features of the present invention that can be understood from the above-described embodiment and modifications will be described below. (Appendix 1) 2. The conveying device according to claim 1, further comprising a second guide wall arranged to face the first transfer section across the first line, wherein a curved recess is formed in an outer wall portion of the second guide wall located on the first line side.

[0072] (Appendix 2) 2. The conveying device according to claim 1, further comprising a second guide wall arranged to face the first transfer section across the first line, wherein an outer wall portion of the second guide wall located on the first line side has a recess formed therein in which an elastic member is arranged. [Explanation of symbols]

[0073] W10: work (object), W11: downstream work (second object), W13: upstream work (third object), W20: merging work (first object), 20: main line (first line), 30: tributary line (second line), 50: merging wheel (first transport section), 51: gripping section, 51a: object gripping section, 51b: leading gripping section, 60: discharge device (second transport section), 90: control device (control section), 510: contact part, 511: non-contact part, 101: first guide wall, 110: second guide wall, 110a: recess, 110b: elastic member, 200: computer.

Claims

1. a first line along which a plurality of objects flow in a predetermined conveying direction; a second line provided separately from the first line; a first transfer unit that transfers a first object disposed on the second line to the first line; a control unit that controls the first transfer unit, When a gap between a second object and a third object being continuously conveyed among the plurality of objects conveyed on the first line satisfies a first condition, the control unit transfers the first object from the second line to the first line so that the first object is positioned in the gap. Conveying device.

2. a second transfer unit that transfers an object that satisfies a second condition, among the plurality of objects moving on the first line, to the second line; The conveying device according to claim 1 .

3. the first transfer section feeds a first object into the first line by a rotational movement; The control unit executes rotation control to rotate the first transfer unit so that the first object is fed into the gap. The conveying device according to claim 1 .

4. The first transfer portion is formed in a disk shape, the first transfer unit is formed with a plurality of gripping units capable of gripping the first object, Among the plurality of gripping units, a gripping unit that grips the first object sent into the gap is defined as a target gripping unit, and a gripping unit that is located ahead of the target gripping unit in the rotation direction of the first transfer unit is defined as a leading gripping unit; the second object is an object that is disposed downstream of the first line with the gap between it and the third object, In the rotation control, the control unit executes acceleration control to rotate the first transport unit so as to accelerate in the rotation direction until the leading gripping unit approaches the second object, and then executes synchronization control to rotate the first transport unit so that the first object gripped by the object gripping unit is displaced in the transport direction at the same speed as the object. The conveying device according to claim 3 .

5. The first transfer section has the plurality of gripping sections formed at equal intervals at predetermined angles in the circumferential direction, The control unit rotates the first transfer unit by an angle greater than twice the predetermined angle interval in the synchronous control. The conveying device according to claim 4.

6. The control unit, in the synchronization control, executes acceleration adjustment control to rotate the first conveying unit so that the first object is displaced in the conveying direction at a speed faster than that of the object immediately before the first object is placed at a target insertion position set in the gap. The conveying device according to claim 5 .

7. The control unit, in the synchronization control, executes deceleration adjustment control to rotate the first conveying unit so that the first object is displaced in the conveying direction at a speed slower than that of the object immediately after the first object is placed at a target insertion position set in the gap. The conveying device according to claim 5 .

8. The gripping portion is configured by a single engaging claw that engages with the first object in a direction opposite to the rotation direction of the first conveying portion. The conveying device according to claim 4.

9. a contact portion of the engaging claw with which the first object comes into contact has a curved shape, The non-contact portion of the engaging claw opposite to the portion that comes into contact with the first object is formed in a curved shape having a smaller curvature than the contact portion, or in a linear shape.

9. The conveying device according to claim 8.

10. a first guide wall provided on the outer periphery of the first transfer unit to guide the movement of the first object from the second line toward the first line by a rotational movement of the first transfer unit; 9. The conveying device according to claim 8.

11. a second guide wall disposed opposite the first conveying section across the first line; The conveying device according to claim 1 .

12. The object is formed in a cylindrical shape, The gap is larger than the outer diameter of the object. The conveying device according to claim 1 .

13. A conveying method for feeding objects arranged on a second line provided separately from a first line along which a plurality of objects flow in a predetermined conveying direction, the method comprising: The computer controlling a first transport unit that feeds a first object disposed on the second line into the first line; When a gap between a second object and a third object being continuously conveyed among the plurality of objects being conveyed on the first line satisfies a first condition, the first object is transferred from the second line to the first line so that the first object is positioned in the gap. Transportation method.

14. Computer, A program for causing a control device to function as a control device for feeding an object arranged on a second line provided separately from a first line along which a plurality of workpieces flow in a predetermined conveying direction, the program comprising: The computer, controlling a first transport unit that feeds a first object disposed on the second line into the first line; When a gap between a second object and a third object being continuously conveyed among the plurality of objects being conveyed on the first line satisfies a first condition, the first object is transferred from the second line to the first line so that the first object is positioned in the gap. program.

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