Linear transport system and linear transport method

Abstract

To provide technology advantageous for extending a carrier transport distance within a limited area in linear transport where carriers are transported by linear motor units.SOLUTION: A linear transport system 10 comprises: at least one carrier for supporting objects used in container processing; and a linear motor unit for transporting at least one carrier along a transport track T. The transport track T comprises only a curved track throughout its entire length.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present disclosure relates to a linear transport system and a linear transport method. [Background technology]

[0002] Patent Document 1 discloses a conveying device that conveys bag-shaped containers by using a linear motor including an electromagnetic coil and a permanent magnet. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-172140 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present disclosure is to provide a technology that is advantageous for increasing the transport distance of a carrier in a limited area in linear transport in which the carrier is transported by a linear motor unit. [Means for solving the problem]

[0005] One aspect of the present disclosure relates to a linear transport system comprising at least one carrier for supporting an object used in container processing and a linear motor unit for transporting the at least one carrier along a transport track, the transport track including only a curved track throughout.

[0006] The transfer trajectory may include only one of positive curvature and negative curvature.

[0007] The transfer trajectory may include both positive and negative curvature.

[0008] The transfer track may be an endless track.

[0009] The transfer track may have one or more ends.

[0010] The transfer track may include a plurality of endless track sections, each configured as an endless track, and the linear motor unit may transport the at least one carrier such that the at least one carrier moves from one endless track section to another endless track section while moving along the curved track.

[0011] The linear transport system may include a plurality of processing devices for performing container processing, including a first processing device and a second processing device, wherein the transfer track includes a first curved track section having one of a positive and a negative curvature and a second curved track section having the other of a positive and a negative curvature, the first processing device being positioned along the first curved track section on the inside of the transfer track and performing container processing on objects supported by carriers transported in the first curved track section, and the second processing device being positioned along the second curved track section on the outside of the transfer track and performing container processing on objects supported by carriers transported in the second curved track section.

[0012] Another aspect of the present disclosure relates to a linear conveying method comprising transporting, by a linear motor unit, at least one carrier supporting an object to be used in container processing along a transfer track, the transfer track including only a curved track throughout. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to provide a technology that is advantageous for increasing the transport distance of a carrier in a limited area in linear transport in which a carrier is transported by a linear motor unit. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is an enlarged plan view showing an example of a linear transport system. [Figure 2]FIG. 2 is an enlarged plan view showing another example of the linear transport system. [Figure 3] FIG. 3 is a functional block diagram showing an example of the control configuration of the linear transport system. [Figure 4] FIG. 4 is a plan view showing an example of a transfer track. [Figure 5] FIG. 5 is a plan view showing an example of a transfer track. [Figure 6] FIG. 6 is a plan view showing an example of a transfer track. [Figure 7] FIG. 7 is a plan view showing an example of a transfer track. [Figure 8] FIG. 8 is a plan view showing an example of a transfer track. [Figure 9] FIG. 9 is a plan view showing an example of a transfer track. [Figure 10] FIG. 10 is a plan view showing an example of a transfer track. [Figure 11] FIG. 11 is a plan view showing an example of a transfer track according to the first modified example. DETAILED DESCRIPTION OF THE INVENTION

[0015] Fig. 1 is an enlarged plan view showing an example of a linear conveyance system 10. Fig. 2 is an enlarged plan view showing another example of the linear conveyance system 10.

[0016] Each of the linear transport systems 10 shown in FIGS. 1 and 2 includes at least one transfer unit 18 and a linear motor unit (transport device) 20.

[0017] The transfer unit 18 supports an object used in the container processing and transfers the object along the transfer track T together with the object. The object used in the container processing referred to here is not limited, and may include, for example, the container itself, an attachment (such as a spout) attached to the container by the container processing, and an implement used in the container processing.

[0018] The transfer unit 18 in this example includes a pair of first and second transfer sets 18A and 18B, and is capable of moving while supporting a bag (container) B. Each of the first and second transfer sets 18A and 18B has a carrier 11, an arm 12 attached to the carrier 11 via a support connection part 14 extending in the height direction, and a gripper 13 attached to the arm 12. The carrier 11 and the arm 12 may be provided so as to be rotatable relative to each other, or may be fixed to each other in the rotational direction and basically unable to rotate relative to each other.

[0019] The carrier 11 receives a driving force (e.g., a magnetic force) from the linear motor unit 20 and moves along the transfer track T in response to the driving force. In the example shown in FIG. 1, the arm 12 extends horizontally outward away from the linear motor unit 20, and in the example shown in FIG. 2, it extends horizontally inward, opposite to the outward horizontal direction. Note that although the arm 12 extends horizontally in the examples shown in FIGS. 1 and 2, it may extend in a direction other than horizontal (e.g., vertically). The gripper 13 grips the bag B. In the example shown in FIGS. 1 and 2, the gripper 13 of the first transfer set 18A grips one side of the bag B, while the gripper 13 of the second transfer set 18B grips the other side of the bag B, so that the bag B is gripped (supported) in a suspended state by the transfer unit 18.

[0020] The linear motor unit 20 transports at least one of the transport units 18 along the transport path T. The linear motor unit 20 propels the transport units 18 (the first transport set 18A and the second transport set 18B; particularly the carriers 11) based on linear motor technology. While there is no limitation on the linear motor technology that can be used for the linear motor unit 20, typically, magnetic forces (attractive and repulsive forces) are applied from the linear motor unit 20 to each carrier 11, causing each carrier 11 to be transported along the transport guideway, floating above the transport guideway or in contact with the transport guideway via rollers or the like. The shape and size of the transport guideway are not limited, and each carrier 11 may be transported one-dimensionally along a linear transport guideway, or two-dimensionally along a planar transport guideway. The specific configuration of the linear motor unit 20 is not limited, and examples of linear motor units 20 for transporting the transport units 18 (particularly the carriers 11) are known, so a detailed description of the specific configuration of the linear motor unit 20 will be omitted.

[0021] 1 and 2 is set along the outer periphery of the main body of the linear motor unit 20, but is not limited to this. For example, the transfer path T may be set in an area that extends two-dimensionally in the horizontal direction above the main body of the linear motor unit 20.

[0022] FIG. 3 is a functional block diagram showing an example of the control configuration of the linear transport system 10. As shown in FIG.

[0023] The linear transport system 10 shown in FIG. 3 includes a control unit 30 and a processing unit 40 in addition to the above-mentioned at least one transfer unit 18 (carrier 11) and linear motor unit 20.

[0024] The control unit 30 controls the linear motor unit 20 and the processing unit 40, thereby causing the linear motor unit 20 to transport the transfer unit 18 and causing the processing unit 40 to perform bag processing (container processing) on ​​the bag B held by the transfer unit 18. In this way, the linear conveyance system 10 performs the linear conveyance method by driving various devices under the control of the control unit 30.

[0025] In the example shown in FIG. 3, the processing unit 40 includes a plurality of processing devices (i.e., first processing device 40-1 to Nth processing device 40-N (where "N" is an integer of 2 or more)), but may include only a single processing device.

[0026] Each processing device in the processing unit 40 performs bag processing (container processing) directly or indirectly related to the bag B held by the transfer unit 18, but the specific processing content is not limited thereto. Therefore, the processing unit 40 may include a processing device that performs bag processing that directly uses the bag B, or a processing device that performs bag processing that does not directly use the bag B. As an example, the processing unit 40 may include a processing device that supplies the bag B (e.g., empty bags) to the transfer unit 18, a processing device that prints on the bag B, a processing device that inspects the condition of the bag B, a processing device that prompts the opening of the mouth of the bag B (e.g., the upper end portion of the bag B), a processing device that introduces contents (e.g., liquid and / or solid) into the inside of the bag B through the mouth, a device that introduces gas (e.g., water vapor, carbon dioxide, and / or inert gas) into the inside of the bag B through the mouth, a processing device that seals the mouth of the bag B, and / or a processing device that sends the bag B (e.g., product bags) released from the transfer unit 18 to a subsequent process.

[0027] [Transfer trajectory] In the linear transport system 10 described above, in this embodiment, the transfer track T includes only a curved track throughout.

[0028] The curved orbit referred to here means an orbit that draws a curve, and the curve referred to here means a line whose curvature k is a value other than zero (k=1 / Rc≠0; where "Rc" is the radius of curvature). Therefore, the transfer orbit T of this embodiment does not include a straight orbit. The straight orbit referred to here means an orbit that draws a straight line, and the straight line referred to here is a line whose curvature k is zero (k=0) and has an infinite radius of curvature Rc.

[0029] 4 to 10 are plan views showing examples of the transfer track T. FIG.

[0030] For example, the transfer trajectory T may include only one of a positive curvature and a negative curvature.

[0031] The transfer track T shown in Figure 4 has a circular shape, a constant curvature throughout, and no inflection points. The transfer track T shown in Figure 5 has an elliptical shape and no inflection points. Both the transfer track T shown in Figures 4 and 5 are endless track tracks that include only the endless track section Ta.

[0032] The transfer trajectory T may also include both positive and negative curvatures.

[0033] 6 is an endless track including a first curved track section T1 to a sixth curved track section T6. The adjacently positioned "first curved track section T1 and second curved track section T2" and "first curved track section T1 and sixth curved track section T6" have different curvature values, but the signs of the curvatures (positive or negative) are the same.

[0034] On the other hand, the sign of the curvature of the third curved track section T3 located between the second curved track section T2 and the fourth curved track section T4 is different from the signs of the curvature of the second curved track section T2 and the fourth curved track section T4. Similarly, the sign of the curvature of the fifth curved track section T5 located between the fourth curved track section T4 and the sixth curved track section T6 is different from the signs of the curvature of the fourth curved track section T4 and the sixth curved track section T6. In these second curved track section T2 to sixth curved track section T6, inflection points exist between adjacent curved track sections.

[0035] The transfer track T may also have one or more ends.

[0036] The transfer track T shown in FIG. 7 is composed only of a linear track section Tb having both ends (i.e., track ends Te) and has a non-endless shape. The linear track section Tb is not limited to the example shown in FIG. 7 and may have any curved shape (e.g., a wave shape). The transfer unit 18 may be moved back and forth by the linear motor unit 20, for example, alternately in a direction from one track end Te of the transfer track T shown in FIG. 7 to the other track end Te and in a direction from the other track end Te to one track end Te.

[0037] The transfer track T shown in Fig. 8 includes a circular (endless) endless track section Ta and a linear (non-endless) linear track section Tb having a track end Te. The linear track section Tb extends so as to branch off from a branch point t on the endless track section Ta, and has a curvature of a different magnitude from that of the endless track section Ta. In the example shown in Fig. 8, the curvature of the endless track section Ta and the curvature of the linear track section Tb have the same sign but different magnitudes (absolute values), but may also have different signs.

[0038] The transfer track T may include multiple endless track sections, each configured as an endless track. In this case, the linear motor unit 20 may transfer at least one transfer unit 18 (in particular the carrier 11) from one endless track section to another endless track section via connecting track sections configured as curved tracks.

[0039] The transfer track T shown in Fig. 9 includes two circular endless track sections Ta, which are arranged so as to be in contact with (particularly so as to circumscribe) each other. The arrows in Fig. 9 indicate an example of the movement direction of the transfer unit 18 on each endless track section Ta. When moving from one endless track section Ta (lower side of Fig. 9) to the other endless track section Ta (upper side of Fig. 9), the transfer unit 18 moves along the track indicated by the solid arrow, and when moving from the other endless track section Ta (upper side of Fig. 9) to one endless track section Ta (lower side of Fig. 9), the transfer unit 18 moves along the track indicated by the dotted arrow.

[0040] The transfer unit 18 is transferred between two adjacent endless track sections Ta through a curved connecting track section Tc by a linear motor unit 20. In the example shown in Fig. 9, the two endless track sections Ta are in point contact with each other, so the entire connecting track section Tc is formed by these two endless track sections Ta, forming an S-shaped curved track. In this way, the linear motor unit 20 transfers the transfer unit 18 (particularly the carrier 11) so that the transfer unit 18 (particularly the carrier 11) moves from one endless track section Ta to another endless track section Ta while moving along the curved track.

[0041] The transport unit 18 may behave arbitrarily when being transferred from one endless track section to another, so that it assumes an appropriate state in the other endless track section. Such a behavior of the transport unit 18 can be achieved based on known techniques, and therefore a detailed description thereof will be omitted.

[0042] 9 includes two circular endless track sections Ta, it may include three or more endless track sections Ta, and each endless track section Ta may have any planar shape other than a perfect circle. Furthermore, in the example shown in FIG. 9, the connecting track section Tc is entirely made up of endless track sections Ta, but it may also include curved track that does not make up the endless track sections Ta (i.e., curved track that is not included in the endless track sections Ta).

[0043] The bags B held by the transfer unit 18 can be subjected to any bag processing (container processing) by one or more processing devices while being transferred along the transfer track T. Such one or more processing devices for performing bag processing are typically installed along the transfer track T, and perform bag processing on the bags B while they are moving or intermittently stopped on the transfer track T.

[0044] In the example shown in FIG. 10, the transfer track T is an endless track including a first curved track section T1 to an eighth curved track section T8, and the linear transport system 10 is equipped with a plurality of processing devices including a first processing device 40-1 to a seventh processing device 40-7.

[0045] In Figure 10, the first curved track section T1 to the eighth curved track section T8 are arranged in this order in a counterclockwise direction. The curvature of each of the first curved track section T1 to the eighth curved track section T8 has a different sign from the curvature of the other curved track section located adjacent to it. That is, the first curved track section T1, the third curved track section T3, the fifth curved track section T5, and the seventh curved track section T7 are classified as first curved track sections having either a positive or negative curvature. On the other hand, the second curved track section T2, the fourth curved track section T4, the sixth curved track section T6, and the eighth curved track section T8 are classified as second curved track sections having the other of a positive and negative curvature.

[0046] The first processing device 40-1, the third processing device 40-3, and the fifth processing device 40-5 are arranged inside the closed-loop shaped transfer track T, and the other second processing device 40-2, the fourth processing device 40-4, the sixth processing device 40-6, and the seventh processing device 40-7 are arranged outside the transfer track T.

[0047] The first processing device 40-1 is arranged along the first curved track section T1 and performs bag processing on bags B supported by transfer units 18 (including carriers 11) transported on the first curved track section T1. Similarly, the second processing device 40-2 is arranged along the second curved track section T2 and performs bag processing on bags B supported by transfer units 18 transported on the second curved track section T2. ​​The third processing device 40-3 is arranged along the third curved track section T3 and performs bag processing on bags B supported by transfer units 18 transported on the third curved track section T3. The fourth processing device 40-4 is arranged along the fourth curved track section T4 and performs bag processing on bags B supported by transfer units 18 transported on the fourth curved track section T4. The fifth processing device 40-5 is arranged along the fifth curved track section T5 and performs bag processing on bags B supported by transfer units 18 transported on the fifth curved track section T5. The sixth processing device 40-6 is arranged along the sixth curved track section T6 and performs bag processing on bags B supported by transfer units 18 transported in the sixth curved track section T6. The seventh processing device 40-7 is arranged along the eighth curved track section T8 and performs bag processing on bags B supported by transfer units 18 transported in the eighth curved track section T8.

[0048] In this example, the third processing device 40-3 is disposed not only along the third curved track section T3 but also along the seventh curved track section T7. Therefore, the third processing device 40-3 may perform bag processing on bags B supported by transfer units 18 transferred on the seventh curved track section T7, in addition to bag processing on bags B supported by transfer units 18 transferred on the third curved track section T3.

[0049] As explained above, the linear conveyance system 10 equipped with the above-mentioned "transfer track T including only a curved track" and the linear conveyance method for conveying the transfer unit 18 along the above-mentioned transfer track T are advantageous in lengthening the transfer distance of the transfer unit 18 (including the carrier 11) in a limited area. For example, it is advantageous in lengthening the section of the transfer track T that is provided adjacent to one processing device, and is also advantageous in lengthening the section for bag processing (container processing) for the bags B held by the transfer unit 18.

[0050] [First Modification] Items used in container processing, such as bags B, may be transferred between two or more transfer units 18 transported along separate transfer tracks T, or may be transported along two or more separate transfer tracks T while being supported by the two or more transfer units 18.

[0051] Fig. 11 is a plan view showing an example of a transfer track T according to the first modified example. In the example shown in Fig. 11, two circular transfer track T (endless track sections Ta) are provided. These transfer track T are provided at a distance from each other and are not connected to each other. Each transfer track T is provided with its own transfer unit 18, and each transfer unit 18 is transferred only along the transfer track T assigned to it and does not move to other transfer track T that is not assigned to it.

[0052] In Fig. 11, solid arrows indicate the transfer trajectories of the transfer units 18 assigned to each transfer trajectory T, and dashed arrows indicate the transfer trajectories of objects used in container processing, such as bags B. In this example, objects used in container processing are handed over from a transfer unit 18 moving along one transfer trajectory T (upper side of Fig. 11) to a transfer unit 18 moving along the other transfer trajectory T (lower side of Fig. 11). That is, an object used in container processing is transferred along one transfer trajectory T (upper side of Fig. 11) while supported by one transfer unit 18, and then transferred along the other transfer trajectory T (lower side of Fig. 11) while supported by another transfer unit 18.

[0053] The transfer of items used in container processing, such as bags B, between the transfer units 18 can be performed in any area and in any manner. Typically, the items used in container processing are directly transferred from one transfer unit 18 to another transfer unit 18 in an area including the position where the transfer tracks T are closest to each other (see symbol "R" in FIG. 11: transfer area).

[0054] In the example of Figure 11, the objects used for container processing, such as bags B, are transferred between transfer units 18 that are transferred along two circular transfer tracks T, but they may also be transferred between transfer units 18 that are transferred along transfer tracks T having any other planar shape (see Figures 5 to 10). Furthermore, the objects used for container processing may also be transferred between three or more transfer units 18 that are provided on three or more transfer tracks T, respectively.

[0055] [Other variations] In the above-described embodiment, the transfer unit 18 includes multiple transfer sets 18A and 18B, but the transfer unit 18 may include only a single transfer set. In this case, the linear transport system 10 may transport the bag B along the transfer track T together with the transfer unit 18 while gripping a specific portion of the bag B (e.g., the upper end) using, for example, the single transfer set including the carrier 11, the arm 12, and the gripper 13.

[0056] It should be noted that the embodiments and modifications disclosed in this specification are merely illustrative in all respects and should not be construed as limiting. The above-described embodiments and modifications may be omitted, substituted, and modified in various ways without departing from the scope and spirit of the appended claims. For example, the above-described embodiments and modifications may be combined in whole or in part, and embodiments other than those described above may be combined with the above-described embodiments or modifications. Furthermore, the effects of the present disclosure described in this specification are merely illustrative, and other effects may be obtained.

[0057] The technical category that embodies the above technical idea is not limited. For example, the above technical idea may be embodied by a computer program that causes a computer to execute one or more procedures (steps) included in a method of manufacturing or using the above device. The above technical idea may also be embodied by a computer-readable non-transitory recording medium on which such a computer program is recorded.

[0058] [Note] The present disclosure may also take the following forms.

[0059] [Aspect 1] at least one carrier for supporting an object used in the container processing; a linear motor unit for transporting the at least one carrier along a transport track; A linear transport system in which the transfer track includes only curved tracks throughout.

[0060] [Aspect 2] 2. The linear transport system of claim 1, wherein the transfer track includes only one of a positive curvature and a negative curvature.

[0061] [Aspect 3] 2. The linear transport system of claim 1, wherein the transfer trajectory includes both positive and negative curvatures.

[0062] [Aspect 4] 4. The linear transport system according to any one of aspects 1 to 3, wherein the transfer track is an endless track.

[0063] [Aspect 5] 4. The linear transport system according to any one of aspects 1 to 3, wherein the transfer track has one or more ends.

[0064] [Aspect 6] the transfer track includes a plurality of endless track sections, each configured as an endless track; A linear conveyance system according to any one of aspects 1 to 5, wherein the linear motor unit transports the at least one carrier from one endless track section to another endless track section via a connecting track section configured as a curved track. the transfer track includes a plurality of endless track sections, each configured as an endless track; A linear conveyance system according to any one of aspects 1 to 5, wherein the linear motor unit transports the at least one carrier such that the at least one carrier moves from one endless track section to another endless track section while moving along a curved track.

[0065] [Aspect 7] a plurality of processing devices for performing the container processing, the processing devices including a first processing device and a second processing device; the transfer track includes a first curved track section having one of a positive and a negative curvature and a second curved track section having the other of a positive and a negative curvature; the first processing device is disposed along the first curved track section inside the transfer track, and performs the container processing on the object supported by a carrier transported on the first curved track section; A linear transport system as described in aspect 4 or aspect 6 that cites aspect 4, wherein the second processing device is arranged along the second curved track section outside the transfer track and performs the container processing on the object supported by a carrier transported on the second curved track section.

[0066] [Aspect 8] transporting at least one carrier carrying an object used in the container processing along a transport track by a linear motor unit; A linear conveying method, wherein the transfer track includes only curved tracks throughout. [Explanation of symbols]

[0067] 10 Linear transport system, 11 Carrier, 12 Arm, 13 Gripper, 14 Support connection part, 18 Transfer unit, 18A First transfer set, 18B Second transfer set, 20 Linear motor unit, 30 Control unit, 40 Processing unit, 40-1 First processing device, 40-2 Second processing device, 40-3 Third processing device, 40-4 Fourth processing device, 40-5 Fifth processing device, 40-6 Sixth processing device, 40-7 Seventh processing device, 40-N Nth processing device, B Bag, R Transfer area, T Transfer track, t Branch point, Ta Endless track section, Tb Line track section, Tc Connecting track section, Te Track end, T1 First curved track section, T2 Second curved track section, T3 Third curved track section, T4 Fourth curved track section, T5 Fifth curved track section, T6 Sixth curved track section, T7 Seventh curved track section, T8 Eighth curved track section

Claims

1. at least one carrier for supporting an object used in the container processing; a linear motor unit for transporting the at least one carrier along a transport track; A linear transport system in which the transfer track includes only curved tracks throughout.

2. The linear transport system according to claim 1 , wherein the transfer track includes only one of a positive curvature and a negative curvature.

3. The linear transport system of claim 1 , wherein the transfer trajectory includes both positive and negative curvatures.

4. The linear transport system of claim 1 , wherein the transfer track is an endless track.

5. The linear transport system of claim 1 , wherein the transfer track has one or more ends.

6. the transfer track includes a plurality of endless track sections, each configured as an endless track; 2. The linear transport system of claim 1, wherein the linear motor unit transports the at least one carrier such that the at least one carrier moves from one endless track section to another endless track section while moving along a curved track.

7. a plurality of processing devices for performing the container processing, the processing devices including a first processing device and a second processing device; the transfer track includes a first curved track section having one of a positive and a negative curvature and a second curved track section having the other of a positive and a negative curvature; the first processing device is disposed along the first curved track section inside the transfer track, and performs the container processing on the object supported by a carrier transported on the first curved track section; 5. The linear transport system of claim 4, wherein the second processing device is positioned along the second curved track section outside the transfer track and performs the container processing on the object supported by a carrier transported on the second curved track section.

8. transporting at least one carrier carrying an object used in the container processing along a transport track by a linear motor unit; A linear conveying method, wherein the transfer track includes only curved tracks throughout.

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