Workpiece transfer system

Abstract

To provide a workpiece conveying system capable of adjusting an interval between workpieces in a conveying direction and moving each workpiece in a direction perpendicular to the conveying direction on a conveying surface of a conveying device.SOLUTION: A workpiece conveyance system includes a conveyance device that conveys each of a plurality of workpieces arranged at a first interval in a first direction at a predetermined speed in one direction of the first direction, and a holding device that simultaneously holds the plurality of workpieces. The holding device includes a plurality of holding units each holding one workpiece and arranged in a first direction, and a base unit that is movable in the first direction and movably supports the plurality of holding units. In a state in which each workpiece is held and the base unit is moved at a predetermined speed, the interval between the holding units in the first direction is changed, and the position of each holding unit in the second direction perpendicular to the first direction and parallel to the conveyance surface is changed from the designated position to the target position.SELECTED DRAWING: Figure 9

Description

[Technical Field]

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

[0002] Conventionally, systems for transporting workpieces have been known. For example, International Publication No. 2016 / 052014 (Patent Document 1) discloses a container transport device that transports a container pack (an example of a workpiece) that includes multiple containers.

[0003] The container conveying device of Patent Document 1 adjusts the pot pitch of each container in the container conveying direction to a predetermined pitch equivalent to the arrangement pitch of the mandrel heads in the film fitting process. The container conveying device is equipped with multiple movable claws that move along the container conveying direction on both sides of the container conveying path. Each movable claw has a support upper surface that abuts against the underside of the flange portion of each container to suspend and support it, and a tip outer peripheral surface that fits between the pot portions of each container and contacts the outer peripheries of two pot portions adjacent to each other in the conveying direction. When containers are continuously conveyed, the movable claw fits between the two pot portions, adjusting the pitch between the two pot portions to a predetermined pitch. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2016 / 052014 Summary of the Invention [Problem to be solved by the invention]

[0005] There is a demand for a workpiece transport system that is capable of adjusting the distance between the works in the transport direction and that is capable of moving each workpiece in a direction perpendicular to the transport direction on the transport surface of the transport device.

[0006] The present disclosure provides a work transport system that is capable of adjusting the spacing between workpieces in the transport direction and that is capable of moving each workpiece in a direction perpendicular to the transport direction on the transport surface of a transport device. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, a workpiece transport system includes a transport device having a transport surface extending in a first direction and transporting each of a plurality of workpieces supplied onto the transport surface while lined up at a first interval in the first direction at a predetermined speed in one direction in the first direction, a holding device that simultaneously holds the plurality of workpieces, and a controller that controls the operation of the holding device. The holding device includes a plurality of holding units that each hold one workpiece and are lined up in the first direction, and a base unit that is movable in the first direction and movably supports the plurality of holding units. The base unit has an adjustment mechanism that changes the intervals between the holding units in the first direction, and a plurality of movement mechanisms that move each of the different holding units in a second direction that is perpendicular to the first direction and parallel to the transport surface. The controller sets the spacing between the holding units to a first spacing and moves the base unit at a predetermined speed in one direction of a first direction, and causes each movement mechanism to move the position of each holding unit in a second direction to a designated position where the work can be held, thereby causing each holding unit to hold a workpiece. With each work held and the base unit moved at a predetermined speed, the controller changes the spacing between the holding units from the first spacing to a second spacing using the adjustment mechanism, and causes each movement mechanism to change the position in the second direction from the designated position to a target position where the work will remain on the transport surface. The controller causes each holding unit to release the workpiece at the target position. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to adjust the distance between the workpieces in the conveying direction, and it is also possible to move each workpiece in a direction perpendicular to the conveying direction on the conveying surface of the conveying device. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view of a transport system. [Figure 2] FIG. 2 is an enlarged view of a main part of the conveying system. [Figure 3] 10A and 10B are schematic diagrams for explaining again the movement directions of the components of the conveying system. [Figure 4] FIG. 2 is a diagram illustrating a functional configuration of the transport system. [Figure 5] 10 is a timing chart of control in the transport system. [Figure 6] 6 is a diagram showing the states of the gripping units and the states of the product W at times t0 to t3 in FIG. 5. FIG. [Figure 7] 6A and 6B are diagrams showing the states of the gripping units and the states of the product W at times t4 and t6 to t8 in FIG. 5. [Figure 8] 6 is a diagram showing the state of the gripping unit and the state of the product W at times t9 to t12 in FIG. 5. FIG. [Figure 9] FIG. 10 is a flowchart showing the flow of processing executed in the transport system. DETAILED DESCRIPTION OF THE INVENTION

[0010] The transport robot in the embodiment will be described below with reference to the drawings. In the embodiment described below, the same or equivalent parts will be given the same reference numerals, and redundant description may not be repeated. The drawings are not drawn according to the actual dimensional ratio, and in some places, the ratio is changed to make the structure clearer in order to make it easier to understand. The modified examples described below can be combined as appropriate. In the following, "grasping" and "suction" are each an example of "holding."

[0011] <Overall structure> Fig. 1 is a perspective view of a conveying system 1 according to the present embodiment. As shown in Fig. 1, the conveying system 1 includes a gripping device 5 and a conveying device 9. The operations of the gripping device 5 and the conveying device 9 are controlled by a controller 7 (Fig. 4) described later.

[0012] The conveying device 9 has a conveying surface 91 extending in the X direction. The conveying device 9 conveys each of a plurality of products W (see FIG. 6) that are supplied onto the conveying surface 91 while lined up at a predetermined interval D1 in the X direction, in the positive direction of the X direction (one direction of the first direction) at a predetermined speed V1.

[0013] In this example, the conveying device 9 is a belt conveyor. The conveying surface 91 is the outer peripheral surface of the belt. For example, a plurality of products W (16 in this example) are simultaneously supplied onto the conveying surface 91 from directly above the conveying surface 91. In this example, the 16 products W (an even number) are simultaneously supplied onto the conveying surface 91 lined up in two rows in the X direction. As the conveying surface 91 moves, the products W are conveyed in the direction of arrow A1 (from upstream to downstream). The products W are, for example, yogurt (containers). The products W are an example of a "work" in the present disclosure.

[0014] The gripping device 5 simultaneously grips multiple products W. The gripping device 5 has multiple (16 in this example) gripping units 101a-108a, 101b-108b, each of which holds one product W and is arranged in the X direction. The gripping device 5 is an example of the "holding device" of the present disclosure. Note that, hereinafter, for convenience of explanation, any one of the 16 gripping units 101a-108a, 101b-108b will also be referred to as a "gripping unit 100."

[0015] In this example, 16 products W are supplied in two rows, and therefore the 16 gripping units 100 are arranged in two rows, just like the products W. The 16 gripping units 100 include eight gripping units 101a to 108a that grip eight products W (an example of a first workpiece) that make up a first row (one row), and eight gripping units 101b to 108b that hold eight products W (an example of a second workpiece) that make up a second row (the other row).

[0016] Hereinafter, any one of the gripping units 101a to 108a will also be referred to as "gripping unit 100a." Similarly, any one of the eight gripping units 101b to 108b will also be referred to as "gripping unit 100b." Note that gripping unit 100a is an example of a "first gripping unit" in the present disclosure. Gripping unit 100b is an example of a "second gripping unit" in the present disclosure.

[0017] The eight gripping units 100a are lined up in a row in the X direction. The eight gripping units 100b are also lined up in a row in the X direction. The eight gripping units 100a and the eight gripping units 100b face each other so as to sandwich the 16 products W lined up in two rows. One gripping unit 100a and one gripping unit 100b face each other in the Y direction. For example, the gripping unit 101a and the gripping unit 101b face each other in the Y direction.

[0018] 2 is an enlarged view of a main part of the conveyance system 1. As shown in FIG.

[0019] The hand 113 can grasp the product W by transitioning from an open state to a closed state. More specifically, the hand 113 has a finger 113a, a finger 113b, and a finger 113c. The finger 113a is spaced apart from the two finger portions 113b and 113c in the X direction. The finger portions 113b and 113c are spaced apart from each other in the Z direction. The finger portion 113b is located directly above the finger portion 113c. The finger portions are also referred to as claws.

[0020] The three fingers 113a, 113b, and 113c are configured to be movable in the X direction. The product W can be gripped by bringing the finger 113a and the two fingers 113b and 113c closer to each other. While gripping the product W, the finger 113a and the two fingers 113b and 113c move away from each other, thereby releasing the gripped product W. In this example, the finger 113a and the two fingers 113b and 113c are configured to be moved closer to each other by supplying air to the main body 112.

[0021] As will be described in detail later, the gripping device 5 allows the distance between the gripping units 100 in the X direction to be adjusted. When the distance becomes shorter than a predetermined distance, the finger 113a fits between the finger 113b and the finger 113c of the adjacent gripping unit 100. For example, the finger 113a of the gripping unit 101b is configured to be able to fit between the finger 113b and the finger 113c of the adjacent gripping unit 102b. In this case, the finger 113b of the gripping unit 102b, the finger 113a of the gripping unit 101b, and the finger 113c of the gripping unit 102b are aligned in this order in the vertical direction. This allows the minimum separation distance to be reduced.

[0022] The gripping device 5 includes a base unit 200 and a feed screw 310. The base unit 200 includes a substrate 210, a distance adjustment mechanism 220, eight support plate portions 230, and 16 gripping unit movement mechanisms 240. The distance adjustment mechanism 220 has two cams 221 (see FIG. 3). The gripping unit movement mechanism 240 has a fixed portion 241 and a gripping unit mounting base 242 as a movable portion. A servo motor 2419 is built into the fixed portion 241.

[0023] The base unit 200 is movable in the X direction. In this example, the base unit 200 moves in the X direction by rotating the feed screw 310. In this example, the base unit 200 is configured to be movable at a speed equal to or greater than the above-mentioned speed V1. The base unit 200 movably supports 16 gripping units 100. Specifically, the base unit 200 supports the 16 gripping units 100 so that the gripping units 100 are movable relative to the base unit 200 in the X and Y directions.

[0024] The substrate 210 has beams 211 and 212 to increase the rigidity of the substrate 210. The beams 211 and 212 extend parallel to each other in the X direction. A similar beam (not shown) is provided on the opposite side of the beam 211 from the beam 212.

[0025] The eight support plate portions 230 are arranged side by side in the X direction. Each support plate portion 230 supports two gripping unit movement mechanisms 240 that face each other in the Y direction. Each support plate portion 230 is connected to a cam 221 of the distance adjustment mechanism 220. The cam 221 is installed on the substrate 210 so as to be movable relative to the substrate 210. The cam 221 is movable in the Y direction relative to the substrate 210.

[0026] The interval adjustment mechanism 220 changes the interval between the gripping units 100 in the X direction. The interval adjustment mechanism 220 changes the interval between the gripping units 100 in the X direction by operating (moving) a cam 221. In this example, the interval adjustment mechanism 220 simultaneously changes the interval between the gripping units 100a lined up in a row in the X direction and the interval between the gripping units 100b lined up in a row in the X direction.

[0027] Specifically, the interval adjustment mechanism 220 can simultaneously change the interval between the gripping units 100a in the X direction and the interval between the gripping units 100b in the X direction to the same length. That is, the interval adjustment mechanism 220 changes the interval between the gripping units 100 in the X direction so that the intervals (intervals of 14 units) between the gripping units 100 are kept equal. The interval adjustment mechanism 220 can change the interval at least between the above-mentioned interval D1 and interval D2, which is wider than interval D1. The controller 7 sets the interval before and after the change as appropriate.

[0028] The 16 gripping unit moving mechanisms 240 each move a different gripping unit 100 in the Y direction. Specifically, one gripping unit moving mechanism 240 moves one gripping unit 100 in the Y direction. The Y direction is perpendicular to the X direction and parallel to the conveying surface 91.

[0029] Specifically, the support part 111 of the gripping unit 100 is attached to a gripping unit mounting base 242 of the gripping unit moving mechanism 240. A servo motor 2419 of the gripping unit moving mechanism 240 moves the gripping unit mounting base 242 in the Y direction on the fixed part 241. The gripping unit mounting base 242 slides on the fixed part 241. With this configuration, the gripping unit moving mechanism 240 can move the gripping unit 100 in the Y direction.

[0030] In this example, all of the gripping unit moving mechanisms 240 are operated in synchronization with one another by the controller 7, which will be described later. Specifically, each gripping unit moving mechanism 240 operates the gripping unit mounting base 242 so that the eight gripping units 100a and the eight gripping units 100b simultaneously move toward each other by the same distance in the Y direction, or simultaneously move away from each other by the same distance.

[0031] More specifically, the controller 7 synchronizes the driving and stopping of the 16 servo motors 2419. The controller 7 transmits the same command at the same timing to each servo motor 2419. This causes the gripping unit mount 242 to move in the Y direction, and as a result, all of the gripping units 100 move in the Y direction.

[0032] <Movement direction> In the following, the two-dimensional XY coordinate system consisting of the X and Y directions described above is referred to as a global coordinate system, and the two-dimensional local coordinate system based on the substrate 210 moving in the X direction is referred to as an xy coordinate system.

[0033] 3 is a schematic diagram for explaining the movement direction of each of the above-mentioned components. FIG. 3 simulates the state when the distance between the gripping units 100 in the X direction is narrowest. In this example, the state is shown where the distance is narrower than distance D1. As shown in FIG. 3, the substrate 210 of the base unit 200 can be moved in the positive and negative directions in the X direction by the above-mentioned feed screw 310.

[0034] Each of the two cams 221 is a plate-shaped guide plate (slide plate). A plurality of (four in this example) elongated holes 2219 are formed in each of the two cams 221. Each elongated hole 2219 is linear and extends in the x and y directions. The shapes of the elongated holes 2219 in the downstream cam 221 and the upstream cam 221 are line-symmetrical with respect to a line segment (not shown) parallel to the y direction. In the cams 221, the inclinations of the elongated holes 2219 in the xy plane are different.

[0035] Each support plate portion 230 has a cam follower 239. Each of the plurality of cam followers 239 is engaged with a different elongated hole 2219 of the cam 221. Each of the two cams 221 guides the cam follower 239 by means of the elongated hole 2219.

[0036] The two cams 221 are movable in the Y direction relative to the substrate 210. Specifically, the two cams 221 are movable only in the y direction in an xy coordinate system (local coordinate system) based on the substrate 210. The inclination of each of the elongated holes 2219 in the xy plane is set so that the distance between the support plate portions 230 in the x direction becomes uniform as the cams 221 move in the y direction.

[0037] More specifically, the two cams 221 are configured to be movable in the negative and positive directions of the y direction by a servo motor 222 (FIG. 4) described later. In this example, the two cams 221 move simultaneously and in the same direction by the same distance in response to a command from the controller 7. More specifically, the two cams 221 move in a direction corresponding to the rotation direction of the servo motor 222.

[0038] Each support plate portion 230 is movable in the X direction relative to the substrate 210 by the cam 221. More specifically, each support plate portion 230 is movable only in the x direction in the xy coordinate system.

[0039] 3, when the cam 221 moves in the negative y direction, the cam follower 239 engages with the elongated hole 2219, and therefore each support plate portion 230 moves in the x direction while being restricted by the elongated hole 2219. Specifically, as described above, the shapes of the grooves in the downstream cam 221 and the upstream cam 221 are line-symmetric, and therefore the downstream support plate portion 230 and the upstream support plate portion 230 move in different directions in the x direction. Specifically, the downstream support plate portion 230 moves in the positive x direction, and the upstream support plate portion 230 moves in the negative x direction.

[0040] 3, when the downstream cam 221 moves in the negative y direction, the support plate portion 230 closer to the positive x direction moves a longer distance in the positive x direction. When the upstream cam 221 moves in the negative y direction, the support plate portion 230 closer to the negative x direction moves a longer distance in the negative x direction. With this configuration, the distance between the support plate portions 230 in the x direction can be kept uniform.

[0041] When the movement of each cam 221 in the negative y direction is completed, each cam 221 is then moved in the positive y direction, returning to the state shown in FIG.

[0042] Since each gripping unit 100 is mounted on the support plate 230, it moves in the x direction as the support plate 230 moves in the x direction. Each gripping unit 100 can move in the Y direction relative to the substrate 210 as the gripping unit mounting base 242 moves as described above. More specifically, each gripping unit 100 can also move in the y direction in the xy coordinate system.

[0043] <Functional configuration> 4 is a diagram illustrating the functional configuration of the transport system 1. As shown in FIG. 4, the transport system 1 further includes a controller 7 in addition to the gripping device 5 and the transport device 9.

[0044] The gripping device 5 includes the 16 gripping units 100 (gripping units 101a to 108a, 101b to 108b) and the base unit 200, as well as a base unit moving mechanism 300 and an air supply device 400.

[0045] As described above, each gripping unit 100 has a main body 112 and a hand 113. As described above, the base unit 200 has the interval adjustment mechanism 220 and the 16 gripping unit moving mechanisms 240. The interval adjustment mechanism 220 has the servo motor 222 in addition to the two cams 221 described above. As described above, each gripping unit moving mechanism 240 has the gripping unit mounting base 242 and the servo motor 2419 (FIG. 2). The base unit moving mechanism 300 has the servo motor 320 in addition to the feed screw 310 described above. The air supply device 400 has an air compressor 401 and eight control valves 411 to 418.

[0046] The controller 7 transmits commands to the base unit 200, the base unit moving mechanism 300, the air supply device 400, and the transport device 9. In detail, the controller 7 transmits drive commands to the servo motors 2419 of the gripping unit moving mechanisms 240 and the servo motors 222 of the distance adjustment mechanisms 220. The controller 7 also transmits drive commands to the servo motors 320 of the base unit moving mechanism 300. The controller 7 transmits commands to the air compressor 401 to control the operation of the air compressor 401. The controller 7 transmits commands to the control valves 411 to 418 to control the opening and closing of the control valves 411 to 418.

[0047] The servo motor 320 operates the lead screw 310. When the servo motor 320 is driven, the lead screw 310 rotates. When the rotation direction of the servo motor 320 is switched, the rotation direction of the lead screw 310 is also switched. As a result, the base unit 200 can move in the positive and negative directions in the X direction at a speed according to the drive command by a distance according to the drive command.

[0048] The servo motor 222 operates the two cams 221. When the servo motor 222 is driven, each cam 221 moves in the Y direction relative to the substrate 210. When the rotation direction of the servo motor 222 is switched, the direction of movement of each cam 221 is switched. The controller 7 controls the operation of the two cams 221 by controlling the driving of the servo motor 222.

[0049] The operation of each cam 221 causes the 16 gripping unit moving mechanisms 240 to move in the X direction relative to the substrate 210. The operation of each cam 221 changes the interval between the gripping unit moving mechanisms 240 in the X direction. This changes the interval between the gripping units 100 in the X direction.

[0050] Each servo motor 2419 moves the gripping unit mount 242. When the servo motor 2419 is driven, the gripping unit mount 242 moves (slides) in the Y direction relative to the fixed part 241. When the rotation of the servo motor 2419 is switched, the direction of movement of the gripping unit mount 242 in the Y direction is also switched. Each gripping unit mount 242 moves in the positive or negative direction in the Y direction at a speed according to the drive command and by a distance according to the drive command.

[0051] The air supply device 400 can supply air at a predetermined pressure to each gripping unit 100. More specifically, an air compressor 401 generates compressed air at a predetermined pressure.

[0052] Each of the control valves 411 to 418 is connected to the air compressor 401. The control valve 411 is connected to the main body 112 of the gripping unit 101a and the main body 112 of the gripping unit 101b. Similarly, the control valve 412 is connected to the main body 112 of the gripping unit 102a and the main body 112 of the gripping unit 102b. The other control valves 413 to 418 are also connected to the different gripping units 100a and 100b, respectively.

[0053] When each of the control valves 411 to 418 receives an operation command from the controller 7, the valve closes, thereby transitioning from an open state to a closed state. Specifically, when electricity is applied to each of the control valves 411 to 418, the valve transitions from a steady open state to a closed state. However, without being limited to this, each of the control valves 411 to 418 may be in a closed state in the steady state.

[0054] When compressed air of a predetermined pressure is generated by the air compressor 401, and each of the control valves 411 to 418 is opened, compressed air is supplied to the main body 112. This causes the hand 113 to close (grasp). That is, the finger 113a and the two fingers 113b and 113c move toward each other. When each of the control valves 411 to 418 is transitioned from the open state to the closed state, compressed air is released from the main body 112. This causes the hand 113 to transition from the closed state (grasp) to the open state (release) due to a return mechanism such as a spring. The finger 113a and the two fingers 113b and 113c move in directions away from each other.

[0055] In this example, the controller 7 transmits the same command (open command, close command) to each of the control valves 411 to 418 at the same timing. That is, each of the control valves 411 to 418 transitions from a closed state to an open state at the same timing. Furthermore, each of the control valves 411 to 418 transitions from an open state to a closed state at the same timing.

[0056] <State transition> FIG. 5 is a timing chart of control in the transport system 1. As shown in FIG. 5, the horizontal axis represents time, and the vertical axis represents four items to be controlled. Note that the timing chart in FIG. 5 is an example and is not limited to this. The ratio of the length of the interval between adjacent times t0, t1, t2 to t13 on the horizontal axis in FIG. 5 is an example and is not limited to this.

[0057] 6 to 9 are transition diagrams showing state transitions between the states of the 16 gripping units 100 and the state of the product W at each time in the timing chart of FIG. 5. FIG. 6 is a diagram showing the states of the gripping units 100 and the state of the product W at times t0 to t3 in FIG. 5. FIG. 7 is a diagram showing the states of the gripping units 100 and the state of the product W at times t4 and t6 to t8 in FIG. 5. FIG. 8 is a diagram showing the states of the gripping units 100 and the state of the product W at times t9 to t12 in FIG. 5.

[0058] As shown in Figures 5 and 6, at time t0, 16 products W are supplied to the conveying surface 91. More specifically, the 16 products W are supplied upstream of the gripping unit 100. Therefore, in state (A) of Figure 6, which shows the state at time t0, the individual products W are not shown. Thereafter, the individual products W are conveyed downstream (towards the gripping unit 100).

[0059] At time t1 (state (B) in FIG. 6 ) immediately before all the gripping units 100 are completely facing the product W in the Y direction, the controller 7 starts to move the base unit 200 downstream using the base unit moving mechanism 300. Specifically, the controller 7 starts to accelerate the base unit 200. More specifically, the controller 7 starts to rotate the lead screw 310. As a result, the controller 7 causes each gripping unit 100 to start tracking the product W.

[0060] When all the gripping units 100 are completely facing the product W in the Y direction (time t2, state (C) in Figure 6), the controller 7 controls the servo motor 320 (Figure 4) that drives the feed screw 310 so that the movement speed in the positive direction of each gripping unit 100 in the X direction (i.e., the movement speed of the base unit 200) matches the speed V1 of the conveying surface 91.

[0061] At time t2, the controller 7 starts control to move the position of each gripping unit 100 in the Y direction from its initial position to a designated position where it can grip the product W. Specifically, the controller 7 moves each gripping unit mounting base 242 in the Y direction relative to the fixed part 241. More specifically, the controller 7 controls the operation of 16 servo motors 2419 (FIG. 4).

[0062] Naturally, the initial position is different between the gripping unit 100a and the gripping unit 100b. Naturally, the designated position is also different between the gripping unit 100a and the gripping unit 100b. Naturally, the target position, which will be described later, is also different between the gripping unit 100a and the gripping unit 100b. Each piece of information about the initial position, designated position, and target position (typically, coordinate values ​​in the Y direction) is set (stored) in advance in the controller 7.

[0063] At time t3, as shown in state (D) in FIG. 6, the position of each gripping unit 100 in the Y direction becomes the designated position. At time t3, the controller 7 starts supplying air to the main body 112 of each gripping unit 100. The controller 7 typically sends a command to all of the control valves 411 to 418 (FIG. 4) to transition them from a closed state to an open state. When the supply of air to the main body 112 starts, the hand 113 operates in a closing direction. The finger 113a and the two fingers 113b and 113c start moving in directions approaching each other.

[0064] At time t4, as shown in state (E) in FIG. 7, each gripping unit 100 grips a product W with its hand 113. At time t5, the controller 7 starts control to change the X-direction interval between the gripping units 100 using the interval adjustment mechanism 220 from interval D1 to interval D2, and control to move the Y-direction position of each gripping unit 100 from a designated position to a target position. In this example, the target position is between the initial position and the designated position. Specifically, the controller 7 sends drive commands to the servo motor 222 (FIG. 4) and the 16 servo motors 2419.

[0065] At time t6, as shown in state (F) in FIG. 7, the distance between the gripping units 100 in the X direction becomes distance D2, and the position of each gripping unit 100 in the Y direction reaches the target position. At time t6, the controller 7 sends a command to all of the control valves 411 to 418 (FIG. 4) to transition from the open state to the closed state. When each of the control valves 411 to 418 transitions from the open state to the closed state, compressed air begins to escape from the main body 112. As a result, the hand 113 begins to transition from the closed state (gripping) to the open state (release). The finger 113a and the two finger portions 113b and 113c begin to move in directions away from each other.

[0066] At time t7, the hands of each gripping unit 100 are closed (open) as shown in state (G) in Fig. 7. Furthermore, at time t7, the controller 7 starts control to move the position of each gripping unit 100 in the Y direction from the target position to the initial position.

[0067] At time t8, as shown in state (H) in FIG. 7, the position of each gripping unit 100 in the Y direction returns to its initial position. Furthermore, at time t8, the controller 7 starts decelerating the base unit 200. More specifically, the controller 7 starts reducing the rotational speed of the lead screw 310. This causes each gripping unit 100 to end tracking of the product W.

[0068] At time t9 (state (I) in FIG. 8), the speed of the base unit 200 becomes 0. Furthermore, at time t9, the controller 7 starts to control the distance adjustment mechanism 220 to return the distance between the grip units 100 in the X direction from distance D2 to distance D1.

[0069] After time t9, the movement speed of the base unit 200 becomes a negative value until time t12. Therefore, during this time, the base unit 200 continues to move in the negative X direction (upstream). As a result, each gripping unit 100 installed on the base unit 200 also moves upstream.

[0070] At time t10 (state (J) in FIG. 8), the controller 7 sets the speed of the base unit 200 to V2 (<0). The controller 7 maintains the speed of the base unit 200 at V2 until time t11 (state (K) in FIG. 8). As a result, each gripping unit 100 continues to move at the speed V2. Furthermore, at time t11, the controller 7 starts control to decelerate the base unit 200 (control to reduce the absolute value of the speed V2). More specifically, the controller 7 starts reducing the rotational speed of the lead screw 310.

[0071] At time t12 (state (L) in FIG. 8), the speed of the base unit 200 becomes 0. Thereafter, the controller 7 continues to stop the base unit 200 until time t13, which is the start time of the next cycle. This causes the movement of each gripping unit 100 in the X direction to stop. Furthermore, at time t12, the distance between the gripping units 100 in the X direction returns to distance D1.

[0072] At time t13, the controller 7 starts the process for the next control cycle. Specifically, the controller 7 repeats the process performed from time t1 to time t12 described above.

[0073] <Summary and Benefits> (1) Focusing on the eight gripping units 100a, the controller 7 causes these gripping units 100a to perform the following operations.

[0074] The controller 7 sets the distance between the gripping units 100a to distance D1 and moves the base unit 200 in the positive direction of the X direction at speed V1 (predetermined speed), and causes each gripping unit 100a to hold the product W by moving the position of each gripping unit 100a in the Y direction using each gripping unit moving mechanism 240 to a designated position where the product W can be gripped.

[0075] When each product W is gripped and the base unit 200 is moved at a speed V1, the controller 7 changes the distance between the gripping units 100a from distance D1 to distance D2 using the spacing adjustment mechanism 220, and also changes the position in the Y direction using each gripping unit moving mechanism 240 from a specified position to a target position where the product W remains on the conveying surface 91.

[0076] The controller 7 causes each gripping unit 100a to release (open) the product W at the target position.

[0077] With this configuration, the controller 7 controls the operation of the gap adjustment mechanism 220, making it possible to adjust the gap between the products W in the conveying direction (the direction of arrow A1, the positive X direction) as shown in state (F) of Fig. 7. Furthermore, the controller 7 controls the operation of each gripping unit moving mechanism 240, making it possible to move each product W in the direction perpendicular to the conveying direction (Y direction) on the conveying surface 91 of the conveying device 9 as shown in state (F) of Fig. 7.

[0078] Additionally, the conveying system 1 makes it possible to adjust the spacing between the products W in the X direction and change their positions in the Y direction without stopping the operation of the conveying device 9 (more specifically, the movement of the conveying surface 91). This improves productivity compared to a configuration in which the movement of the conveying surface 91 must be stopped to adjust the spacing and / or change the positions.

[0079] (2) Focusing on the eight gripping units 100a and the eight gripping units 100b, the controller 7 causes these gripping units 100 to perform the following operations.

[0080] The controller 7 synchronizes the movement of each gripping unit 100a to a designated position with the movement of each gripping unit 100b to a designated position. The controller 7 simultaneously changes the distance between the gripping units 100a and between the gripping units 100b from distance D1 to distance D2 using the distance adjustment mechanism 220. The controller 7 synchronizes the movement of each gripping unit 100a from a designated position to a target position with the movement of each gripping unit 100b from a designated position to a target position. As described above, the designated position and the target position are different for the gripping unit 100a and the gripping unit 100b.

[0081] With this configuration, the X-direction spacing of the products W in each row can be simultaneously changed to the same spacing, as shown in state (F) of Fig. 7. Furthermore, as shown in state (F) of Fig. 7, the separation distance between all the products W in one row and the products W in the other row that face each of the products W in the Y direction can also be simultaneously adjusted.

[0082] (3) Distance D2 is longer than distance D1. The distance in the Y direction between the target position of gripping unit 100a and the target position of gripping unit 100b is longer than the distance in the Y direction between the designated position of gripping unit 100a and the designated position of gripping unit 100b.

[0083] With this configuration, the gap adjustment mechanism 220 can increase the gap between the products W in the X direction compared to when they were supplied to the conveying surface 91. Furthermore, the separation distance (gap) between the products W in the Y direction can be increased compared to when they were supplied to the conveying surface 91. In this way, the distances between the products W in the X and Y directions can be increased. This makes the system suitable for certain post-processing steps that require increasing the distances in the X and Y directions (for example, a film fitting step using a mandrel).

[0084] (4) The conveying system 1 (more specifically, the gripping device 5) further includes an air supply device 400 that supplies air at a predetermined pressure to each gripping unit 100. Each gripping unit 100 has a main body 112 connected to the base unit 200 and a hand 113 attached to the main body 112 and configured to grip the product W. The hand 113 transitions from an open state to a closed state, thereby enabling it to grip the product W. When air is supplied to the main body 112, the hand 113 transitions from an open state to a closed state.

[0085] Because the hand 113 is operated by air, it is possible to absorb dimensional errors of the product W compared to when the fingers 113a to 113c are operated by a servo motor or the like by a predetermined distance. Therefore, it is possible to grip the product W more reliably compared to when a servo motor or the like is used.

[0086] (5) The gap adjustment mechanism 220 includes a cam 221 and a servo motor 222 that drives the cam 221. With this configuration, the cam 221 can simultaneously adjust the gap between the gripping units 100 in the X direction. This allows the gap between the products W in the X direction to be changed simultaneously. Furthermore, the servo motor 222 enables high-speed and high-precision gap adjustment.

[0087] <Processing flow> Fig. 9 is a flow diagram showing the flow of processing executed by the conveyance system 1. As shown in Fig. 9, in step S1, the controller 7 moves the base unit 200 to move each gripping unit 100 at the same speed and in the same direction as the conveying speed (speed V1) of the product W (times t2 to t8 in Fig. 5).

[0088] In step S2, the controller 7 operates each gripping unit moving mechanism 240 to move each gripping unit 100 in the Y direction from its initial position to a designated position (times t3 to t5 in FIG. 5). In step S3, the controller 7 controls at least each of the control valves 411 to 418 to cause each gripping unit 100 to grip the product W (times t4 to t6 in FIG. 5).

[0089] In step S4, the controller 7 operates the spacing adjustment mechanism 220 to adjust the spacing between each gripping unit 100 in the X direction from spacing D1 to spacing D2 (times t6 to t9 in Figure 5), and operates each gripping unit moving mechanism 240 again to move each gripping unit 100 in the Y direction from the specified position to the target position (times t6 to t7 in Figure 5).

[0090] In step S5, the controller 7 controls the control valves 411 to 418 to cause each gripping unit 100 to release the product W at the target position.

[0091] <Modification> (1) As an example of holding the product W, a configuration in which the product W is gripped has been described, but the present invention is not limited to this. In other words, a configuration in which the product W is held by gripping it has been described, but the present invention is not limited to this. For example, instead of gripping the product W, the product W may be sucked by a suction mechanism, thereby adjusting the spacing between the products W in the X direction and changing the position of each product W in the Y direction. In this case, for example, the top surface of the product W may be sucked.

[0092] (2) In the above, an example of a configuration in which the distance between the products W in the X direction is increased has been described, but this is not limiting. The distance may be narrowed depending on the processing content of the subsequent process. For example, if the products W are supplied to the conveying surface 91 at a distance D2, the distance between the gripping units 100 may be set to D2, and then the distance between the products W may be changed to D1 by the distance adjustment mechanism 220.

[0093] (3) The controller that controls the operation of the gripping device 5 and the controller that controls the operation of the transport device 9 may be separate.

[0094] (4) In the above, a product is used as an example of a workpiece, but it may also be a work in progress that is being processed. Note that a product includes a finished product that is about to be boxed or bottled. A product also includes a product that has not yet undergone the required inspection.

[0095] (5) In the above, two cams 221 are used, but this is not limitative. A single cam in which the two cams 221 are integrated may also be used.

[0096] (6) The gap adjustment mechanism 220 that changes the gap between the gripping units 100 in the X direction is not limited to a configuration that includes the cam 221 formed with the long hole 2219. The gap adjustment mechanism 220 may be provided with a link mechanism such as a pantograph structure (a diamond-shaped contraction mechanism) instead of the cam 221.

[0097] (7) The values ​​of the interval D1 and the interval D2 can be appropriately selected (set) within a settable range.

[0098] <Additional Notes> The workpiece transport method is a step in which the controller sets the interval between the holding units to the first interval and moves the base unit in the one of the first directions at the predetermined speed, and causes each of the moving mechanisms to move the position of each of the holding units in the second direction to a designated position where the workpiece can be held, thereby causing each of the holding units to hold the workpiece; a step in which the controller, while each of the workpieces is held and the base unit is moved at the predetermined speed, changes the interval between the holding units from the first interval to a second interval using the adjustment mechanism, and changes the position in the second direction using each of the movement mechanisms from the designated position to a target position where the workpiece remains on the conveying surface; The method further includes a step in which the controller causes each of the holding units to release the workpiece at the target position.

[0099] The embodiments disclosed herein are merely examples and are not limited to the above. The scope of the present invention is defined by the claims, and it is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0100] 1 conveying system, 5 gripping device, 7 controller, 9 conveying device, 91 conveying surface, 100, 100a, 100b, 101a to 108a, 101b to 108b gripping unit, 111 support part, 112 main body part, 113 hand, 113a, 113b, 113c finger part, 200 base unit, 210 substrate, 211, 212 beam part, 220 spacing adjustment mechanism, 221 cam, 222, 320, 2419 servo motor, 230 support plate part, 239 cam follower, 240 gripping unit moving mechanism, 241 fixed part, 242 gripping unit mounting base, 300 base unit moving mechanism, 310 feed screw, 400 air supply device, 401 air compressor, 411 to 418 Control valve, 2219 oblong hole, V1,V2 speed, W product.

Claims

1. a conveying device having a conveying surface extending in a first direction and configured to convey each of a plurality of workpieces supplied onto the conveying surface in a state where the workpieces are arranged at first intervals in the first direction at a predetermined speed in one direction of the first direction; a holding device that holds the plurality of workpieces simultaneously; a controller for controlling the operation of the holding device, the holding device includes a plurality of holding units, each holding one of the works and arranged in the first direction, and a base unit, movable in the first direction and movably supporting the plurality of holding units; the base unit has an adjustment mechanism that changes the intervals between the holding units in the first direction, and a plurality of movement mechanisms that move the holding units, each different from the other, in a second direction that is perpendicular to the first direction and parallel to the transport surface; The controller With the interval between the holding units set to the first interval and the base unit moved in the one direction of the first direction at the predetermined speed, each of the moving mechanisms moves the position of each of the holding units in the second direction to a designated position where the workpiece can be held, thereby causing each of the holding units to hold the workpiece; In a state where each of the workpieces is held and the base unit is moved at the predetermined speed, the adjustment mechanism changes the interval between the holding units from the first interval to a second interval, and each of the moving mechanisms changes the position in the second direction from the designated position to a target position where the workpiece remains on the conveying surface; A workpiece transport system that causes each of the holding units to release the workpiece at the target position.

2. the plurality of workpieces are an even number of workpieces, and are simultaneously supplied onto the conveying surface in a state of being arranged in two rows in the first direction; the plurality of holding units include a plurality of first holding units that hold a plurality of first workpieces that form one of the two rows, and a plurality of second holding units that hold a plurality of second workpieces that form the other of the two rows, the plurality of first holding units and the plurality of second holding units face each other so as to sandwich the plurality of first workpieces and the plurality of workpieces; the adjustment mechanism can simultaneously change the intervals between the first holding units and the intervals between the second holding units to the same length, the designated position and the target position are different between the first holding unit and the second holding unit, The controller Synchronizing the movement of each of the first holding units to the designated position with the movement of each of the second holding units to the designated position; the adjustment mechanism simultaneously changes the distance between the first and second holding units from the first distance to the second distance; 2. The workpiece transport system according to claim 1, wherein movement of each of the first holding units from the designated position to the target position and movement of each of the second holding units from the designated position to the target position are synchronized.

3. the second interval is longer than the first interval; 3. The workpiece transport system according to claim 2, wherein the distance in the second direction between the target position of the first holding unit and the target position of the second holding unit is longer than the distance in the second direction between the designated position of the first holding unit and the designated position of the second holding unit.

4. the holding unit holds the workpiece by gripping the workpiece, an air supply device that supplies air at a predetermined pressure to each of the holding units; Each of the holding units comprises: a main body connected to the base unit; and a hand attached to the main body and configured to grip the workpiece; The hand is capable of gripping the workpiece by transitioning from an open state to a closed state, The workpiece conveying system according to claim 1 , wherein when the air is supplied to the main body, the hand transitions from the open state to the closed state.

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