Moving device

Abstract

To provide a moving device for moving a sheet-like moving object having flexibility by using the flexibility.SOLUTION: A moving device 100 for moving a flexible sheet-like foremost moved object MVF disposed at a pre-movement position Pb1 to post-movement positions Pf1A, Pf1B includes a rotary suction part 130 having a suction part 132S for sucking a sucked part MVFs of the foremost moved object and a holding and rotating part 135 for holding the suction part X1 and rotated in a rotation direction C1 around a rotation axis line XY, and a suction control part 180. The suction control unit causes the suction unit to suck the sucked portion and starts the movement of the foremost moved object in the rotation direction when the suction unit reaches a suction position Ps1 in contact with or close to the sucked portion within an angular range of 4 to 9 o' clock indicated by a short hand position of a timepiece in synchronization with the rotation of the rotary suction unit in the rotation direction, and releases the suction of the sucked portion when the suction unit reaches release positions Pr1A and Pr1B within an angular range of 1 to 8 o' clock beyond 12 o'clock once or more. Control is performed so that the foremost moved object is thrown out to a radial outside X1o part, falls while drawing an arc, and is arranged in a post-movement position.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a moving device that moves an object to be moved that is placed at a pre-movement position to a post-movement position. [Background technology]

[0002] Conventionally, a moving device has been known that moves objects from a pre-movement position to a post-movement position in order to feed out a large number of sheet-like objects stacked in the thickness direction one by one, count them, or count them and collect them in predetermined numbers for packaging, storage, etc. (see Patent Document 1).

[0003] In many of these moving devices, when moving an object from a pre-movement position to a post-movement position, the device picks up the front portion of the object placed at the pre-movement position, or multiple portions including the front portion, in the direction of movement, moves the object to the post-movement position or nearby along the shortest or closest path, and then releases the pick-up, moving the object to the post-movement position. This is to shorten the time it takes to move the object, and quickly perform processes such as moving, counting, and accumulating each predetermined number. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-247577 Summary of the Invention [Problem to be solved by the invention]

[0005] However, depending on the flexibility and other characteristics of the object to be moved, and the conditions required for movement, it may not be desirable to move the object along the shortest or nearly shortest path. The present invention has been made in view of the above problems, and provides a moving device that moves a flexible, sheet-like object to be moved by utilizing the flexibility of the object. [Means for solving the problem]

[0006] (1) One aspect of the present invention for solving the above problem is a moving device that moves flexible, sheet-like objects to be moved that are arranged at a pre-movement position to a post-movement position, the moving device comprising: a pre-movement holding unit that holds a foremost object to be moved at the pre-movement position, a post-movement holding unit that holds the object to be moved at the post-movement position after it has been moved; an adsorption unit that adsorbs a front adsorbed portion of the foremost object that moves first during movement; a rotary adsorption unit that holds the adsorption unit and has a holding rotation unit that is positioned outside the adsorption unit and rotates in a rotational direction about a rotational axis that extends horizontally; and an adsorption control unit that controls adsorption and release of adsorption in the adsorption unit, wherein when the rotary adsorption unit is viewed from an observation direction along the rotational axis, in which the rotational direction is clockwise, the adsorption control unit rotates in the rotational direction in synchronization with the rotation of the rotary adsorption unit. When the adhesive portion reaches an adhesive position within an angular range of 4 to 9 o'clock indicated by the hour hand position of a clock around the rotation axis and in contact with or close to the adhesive portion of the foremost object to be moved held at the pre-movement position, the adhesive portion is caused to adhesively attach to the adhesive portion, causing the foremost object to start moving in the rotation direction; when the adhesive portion that has adhesively attached the adhesive portion passes 12 o'clock at the hour hand position one or more times around the rotation axis and reaches a release position within an angular range of 1 to 8 o'clock, the adhesive portion is caused to release from adhesion of the adhesive portion, causing the foremost object to be moved to a position radially outward from the rotation axis by centrifugal force; and the foremost object to be moved is controlled so that a rear portion of the foremost object to move later than the adhesive portion falls while tracing a larger arc than the adhesive portion, and is placed at the post-movement position.

[0007] In this moving device, when the suction portion provided on the rotary suction portion rotated in the rotational direction by the first drive unit reaches a suction position within an angular range of 4 to 9 o'clock and in contact with or close to the suction portion, the suction portion begins to suction the suction portion, and the foremost object to be moved held in the pre-movement position begins to move in the rotational direction. Then, when the rotary suction portion rotates in the rotational direction and passes 12 o'clock one or more times and reaches a release position within an angular range of 1 to 8 o'clock, the suction of the suction portion is released, and the foremost object to be moved, which has been thrown radially outward, is placed in the post-movement position. Thus, this moving device can reliably move a flexible, sheet-like object to be moved from the pre-movement position to the post-movement position.

[0008] In addition, the foremost object to be moved, which has been adsorbed to the adsorbed portion, is not moved so as to slide sideways in a plane direction, but is moved in the direction of rotation by bending the foremost object to be moved, which has been adsorbed to the adsorbed portion, in an arc shape, which makes it easier to prevent the occurrence of a double-feed phenomenon in which not only the adsorbed foremost object to be moved but also the next object to be moved moves together.

[0009] Examples of flexible, sheet-like objects to be transferred include patches such as poultices, cooling agents, and tapes, which are made by applying a layer of ointment or gel-like paste to a support made of a rectangular or circular, stretchable nonwoven fabric, knitted fabric, or plastic film, and then pasting a release paper made of plastic film or paper onto the paste layer. Other examples include flexible paper, thin rubber plates, plastic films, and rectangular bags, envelopes, and folders made of these, each with one side open, two sides open in an L-shape, or three sides open in a U-shape. Other examples include sheet-like foods such as spring roll wrappers and dumpling wrappers.

[0010] This moving device can be made into a counting device by adding a counting function that counts from the pre-movement position to the post-movement position, or it can be made into a counting and accumulation device by adding an accumulation function that intermittently sends out objects to be moved every time a predetermined number of objects accumulated at the post-movement position are reached. Examples of such counting devices include a counting device that counts the number of moved objects by providing sensors at appropriate locations to detect the movement of the moved object (such as a sensor that detects the first object to be moved that is moving, a sensor that detects that the first object to be moved has been placed in its position after movement, and a sensor that detects the decrease in air pressure in the suction section or the movement of the suction section due to the suction section adsorbing the adsorbed portion). Furthermore, the counting device may stop moving the objects or switch the destination so that the objects are moved to another post-movement position each time a predetermined number of objects (for example, 7 or 12) have been moved to the post-movement position. On the other hand, the counting and stacking device may also be configured to discharge the objects accumulated at the post-movement position to the next process, and resume moving the objects to the post-movement position after discharge is complete.

[0011] (2) A moving device as described in (1), comprising a moving mechanism that moves the rotating adsorption part in parallel in a direction perpendicular to the rotation axis in synchronization with the rotation of the holding and rotating part, and a deceleration moving mechanism that causes the rotating adsorption part to move such that, when the adsorption part reaches the adsorption position, the surface speed of the adsorption part in a first surface direction along the adsorbed surface of the first object to be moved, perpendicular to the rotation axis, and toward the front side, is slower than the peripheral speed of the adsorption part due to the rotation of the holding and rotating part.

[0012] The suction part is held by the holding rotation part and rotates in the rotation direction. Therefore, the suction part rotates at a peripheral speed corresponding to the rotation speed of the holding rotation part. In other words, if a movement mechanism is not provided and the rotation holding part is not moved, the suction part surface speed of the suction part when it reaches the suction position will be a peripheral speed corresponding to the rotation of the holding rotation part. In this case, if the rotation in the rotation direction is made faster, the suction part moves at a high suction part surface speed (peripheral speed) when it reaches the suction position, so even if the suction part tries to suction the suction part of the first object to be moved at this timing, it may not be able to properly suction it.

[0013] In response to this, the moving device is equipped with a deceleration movement mechanism, which causes the rotating suction part to move at a speed slower than the peripheral speed of the rotation in the rotation direction. That is, in this moving device, even though the suction part also rotates around the rotation axis due to the rotation of the holding rotation part, the suction part's speed of the suction part when it reaches the suction position is slower than the peripheral speed. This increases the reliability with which the suction part can suction the suction part of the first-to-be-moved object when it reaches the suction position.

[0014] The deceleration movement mechanism is a movement mechanism that moves the rotating suction unit in a direction perpendicular to the rotation axis in synchronization with the rotation of the holding rotation unit, and that reduces the surface speed of the suction unit to a speed that is slower than the peripheral speed of the suction unit by the movement of the rotating suction unit. Specifically, when the suction unit reaches the suction position, the movement mechanism moves the rotating suction unit in a direction that includes a component opposite to the direction in which the suction unit moves due to the rotation of the suction unit. Further specific movement patterns of the rotating suction unit using the deceleration movement mechanism include, for example, unidirectional circular movement such as circular movement, elliptical movement, or oval movement that rotates the rotating suction unit in a direction opposite to the rotation direction, and reciprocating movement that reciprocates along a linear or arc-shaped path.

[0015] More preferably, a deceleration movement mechanism is provided that moves the rotating suction unit so that the creeping speed of the suction unit when it reaches the suction position is zero while the suction unit is still being rotated by the holding rotation unit. In this case, the suction unit appears to be stationary from the target site when it reaches the suction position, allowing the suction unit to reliably suction the target site. For example, a deceleration movement mechanism may be provided that synchronizes the movement of the rotating suction unit so that it moves in a circular or linear direction at a speed equal to the peripheral speed of the suction unit in a direction perpendicular to the rotation axis and in a direction opposite to the direction in which the suction unit moves when it reaches the suction position.

[0016] (3) Further, in the moving device described in (2), the deceleration moving mechanism includes an internal gear body having an internal gear part with internal teeth arranged in an annular shape, and a planetary gear part with external teeth arranged in an annular shape that mesh with the internal teeth, and one or more planetary gear bodies that revolve around the internal gear axis of the internal gear part with the external teeth meshed with the internal teeth and rotate around planet axes of the planetary gear part that are parallel to the internal gear axis, a planetary carrier body that holds the one or more planetary gear bodies rotatably around the planet axes and rotates around a carrier axis that coincides with the internal gear axis, and a planetary carrier body that rotates around the carrier axis that coincides with the internal gear axis, and a planetary carrier body that rotates around the carrier axis that is parallel to the carrier axis. and a carrier drive unit at its center that rotationally drives the planetary carrier body, wherein the holding rotation units of one or more of the rotary attraction units are each provided coaxially and integrally with the planetary gear body, the internal gear unit and the planetary gear unit have a tooth number relationship such that the planetary gear body rotates an integer number of times of two or more while the planetary gear body revolves around the internal gear unit over one revolution, and the attraction position is preferably a moving device that is the farthest position radially outward from the carrier axis on a locus passed by an attraction center point that is the center of the attraction unit.

[0017] This moving device includes a planetary gear mechanism having an internal gear, planetary gears, and a planetary carrier. The rotating attachment parts are integrally provided with the planetary gears, with their holding rotational portions coaxial with the planetary gears, i.e., with their rotational axes aligned with the planetary axes. The internal teeth of the internal gear and the external teeth of the planetary gears are in a tooth-number relationship that allows them to rotate an integer number of times (2 or more) per revolution of the planetary gear. Therefore, when the planetary gears and the rotating attachment part revolve once, the rotating attachment part rotates two or more times and returns to the same position as before the revolution. In other words, even with repeated revolutions, the attachment part follows the same trajectory. Furthermore, simply by rotating the planetary carrier body using the carrier drive part, the planetary gears and the rotating attachment part can be revolved around the internal gear axis and carrier axis in the direction opposite to the rotational direction, and rotated around the planet axis and rotation axis in the rotational direction.

[0018] Moreover, this condition indicates that the adsorption center point at the center of the adsorption part held by the holding rotating part is an integer of 3 or more for the ratio ri / rp of the pitch circle radius ri of the internal gear part, which is a fixed circle, and the pitch circle radius rp of the planetary gear part, which is a moving circle, and moves on the locus of the hypotrochoid curve with the adsorption center point as the drawing point. Further, in this moving device, among the loci of the hypotrochoid through which the adsorption center point of the adsorption part passes, the position farthest from the carrier axis in the radial direction outside is set as the adsorption position. Therefore, when the adsorption part reaches this adsorption position, the adsorption part can be in a state where the moving speed of the adsorption center point is most reduced compared to when other positions are set as the adsorption position. That is, when adsorbing the adsorbed part with the adsorption part that has reached the adsorption position, the surface speed of the adsorption part along the surface can be most reduced, and the certainty of adsorbing the adsorbed part by the adsorption part can be enhanced. Thus, in this moving device, the deceleration moving mechanism can be realized by a simple planetary gear mechanism.

[0019] When the distance rd from the rotation axis (planetary axis) to the adsorption center point is considered, the distance rd may be larger (rd>rp) or smaller (rd<rp) than the pitch circle radius rp of the planetary gear part. However, it is preferable to make it equal to the radius rp of the pitch circle of the planetary gear part (rd = rp). By doing so, the surface speed of the adsorption part along the surface of the adsorption part that has reached the adsorption position can be made zero.

[0020] (4) Further, it is preferable that the moving device described in (3) is such that the rotating adsorption part makes the distance from the rotation axis to the adsorption center point equal to the pitch circle radius of the planetary gear part.

[0021] In this moving device, the distance rd from the rotation axis to the adsorption center point is made equal to the pitch circle radius rp of the planetary gear part (rd = rp). For this reason, the adsorption center point moves on the locus of a star-shaped hypocycloid. Therefore, in this moving device, the surface speed of the adsorption center point of the adsorption part when it reaches the adsorption position can be made zero. That is, when viewed from the adsorbed part of the object to be moved first, when the adsorption part reaches the adsorption position, it seems as if the adsorption part does not move and is stationary, so the adsorbed part can be surely adsorbed by this adsorption part.

[0022] (5) In the moving device described in any one of (1) to (4), the rotating adsorption portion is preferably provided upstream of the adsorption portion in the rotation direction, and has an inner abutment portion that abuts against the rear portion of the foremost object to be moved in the rotation direction by adsorption of the adsorbed portion by the adsorption portion from the radially inside of the rotation axis, thereby moving the rear portion away from the rotation axis.

[0023] The rotary adsorption unit adheres the adsorbed portion of the first object to be moved with the adsorption unit at the front in the direction of movement, and attempts to move the first object to be moved in the direction of rotation so that the entire object rotates. However, if the object to be moved is particularly flexible and has little rigidity (i.e., no stiffness), the rear portion of the first object to be moved, which moves behind the adsorbed portion, may not move in an arc-shaped trajectory in the direction of rotation following the adsorbed portion, but may instead bend relative to the adsorbed portion and deform so as to approach the axis of rotation. In this case, the entire first object to be moved cannot be moved so as to rotate sufficiently, and even if the adsorbed portion is detached from the adsorption unit that has reached the release position, sufficient centrifugal force cannot be obtained to throw the entire first object to be moved radially outward from the axis of rotation, making it difficult to properly position the first object to be moved to its post-movement position.

[0024] In contrast, in this movement device, the rotary attraction portion has an inner abutment portion, so that the foremost object to be moved can be rotated and moved while the entire rear portion of the foremost object is spaced away from the rotation axis, and by detaching the attraction portion from the attraction portion, the centrifugal force acting on the foremost object to be moved can be used to appropriately position the foremost object after movement.

[0025] The inner contact portion may contact a plurality of points on the rear portion of the first object to support the rear portion from the inside. Alternatively, it may contact the rear portion in a band-like manner to support the rear portion. For example, an inner contact portion having a band-like semi-cylindrical or three-quarter cylindrical surface may be provided at the same axial position as the suction portion in the axial direction along the rotation axis, but upstream of the suction portion in the rotation direction. Alternatively, the inner contact portion may be provided at a different axial position from the suction portion. In this case, a member having a cylindrical surface extending all the way around the circumference may be provided, and the portion of this member upstream of the suction portion in the rotation direction may be used as the inner contact portion. Furthermore, the distance (radius) from the rotation axis to the contact surface, such as the cylindrical surface of the inner contact portion, is preferably 90 to 110% of the distance rd from the rotation axis to the suction center point, which is the center of the suction portion. It is particularly preferable that the distance rd be equal to the distance rd.

[0026] (6) Further, in the moving device according to any one of (2) to (4), the pre-movement holding section holds the foremost object to be moved, which is held at the pre-movement position, and a next object to be moved after the foremost object to be moved, in a manner in which they are at least partially overlapping, and the rotary adsorption section is provided upstream of the adsorption section in the rotation direction, includes a cylindrical surface with a cylindrical radius equal to the distance from the rotation axis to an adsorption center point at the center of the adsorption section, and a cylindrical surface that abuts against the rear portion of the foremost object to be moved by adsorption of the adsorbed portion by the adsorption section from the radially inner side of the rotation axis, thereby moving the rear portion away from the rotation axis. The rotating suction unit and the deceleration movement mechanism preferably have an inner abutment portion, and the suction unit, which has suctioned the suction portion that has suctioned the suctioned portion of the foremost object to be moved, rotate and move the suction unit in the rotation direction around the rotation axis, and move the suction unit in a second surface direction opposite to the first surface direction along the foremost object to be moved held at the pre-movement position while maintaining the distance between the rotation axis and the foremost object to be moved at the size of the cylinder radius, so that the cylindrical surface of the cylindrical inner abutment portion that rotates in the rotation direction abuts against the rear portion of the foremost object to be moved without sliding, thereby moving the foremost object to be moved from the pre-movement position without rubbing against the next object to be moved.

[0027] In this moving device, the rotary attraction part has a cylindrical inner abutment part, so that the foremost object to be moved can be rotated and moved while the entire rear part of the foremost object to be moved is spaced away from the rotation axis, and when the attraction part reaches the release position, the attraction part is detached from the attraction part, and centrifugal force is used to appropriately position the foremost object to the post-movement position.

[0028] Furthermore, the rotational movement of the suction part by the rotary suction part and the movement of the rotary suction part by the deceleration movement mechanism cause the rear portion of the foremost object to abut against the cylindrical surface of the cylindrical inner abutment part without slipping, and the foremost object to be moved from the pre-movement position without rubbing against the next object to be moved. In other words, the rear portion of the foremost object to be moved is wrapped around the cylindrical surface of the cylindrical inner abutment part, and the foremost object to be moved from the pre-movement position without rubbing against the next object to be moved. As a result, the foremost object to be moved by being attracted to the suction part rubs against the next object to be moved, further suppressing double feeding of the next object, and ensuring the separation of the two. Furthermore, scratches due to rubbing against each other can be prevented.

[0029] (7) The moving device described in (1) or (5) may preferably be such that the pre-movement holding unit holds the first object to be moved, which is held at the pre-movement position, and the next object to be moved after the first object to be moved, in a manner in which they are at least partially overlapping, and the moving mechanism synchronizes with the rotation of the holding rotation unit to move the rotating adsorption unit parallel to the orthogonal direction perpendicular to the rotation axis, and the moving device further includes a separating movement mechanism that moves the rotating adsorption unit in a separating direction so as to move the adsorbed portion of the first object to be moved, which is adsorbed to the adsorption unit at the adsorption position, in a separating direction that includes a component in the thickness direction of the next object to be moved, and separates it from the next object to be moved.

[0030] The pre-movement holding section holds the foremost object to be moved and the next object to be moved, which are held in the pre-movement position, in a state in which they at least partially overlap, for example, a stacked state in which the foremost object to be moved is entirely overlapped with the next object to be moved in the thickness direction, or a state in which the foremost object to be moved and the next object to be moved are tilted at an angle so that a part of the foremost object to be moved overlaps a part of the next object to be moved. Therefore, if a movement mechanism is not provided, when the foremost object to be moved, whose adsorption portion is adsorbed by the adsorption section, starts to move in the rotation direction together with the adsorption section, double feeding may occur in which not only the foremost object to be moved but also the next object to be moved moves together, or a positional deviation may occur in the holding position of the next object to be moved.

[0031] In contrast, this moving device is equipped with a separation movement mechanism that moves the rotary suction unit in the separation direction in synchronization with the rotation of the holding rotation unit. This not only bends the vicinity of the suctioned portion of the first object to be moved, which is suctioned to the suction unit at the suction position, into an arc, but also moves the first object in the rotation direction while separating it from the next object to be moved. This further reduces the likelihood of double feeding or misalignment of the next object to be moved.

[0032] Examples of movements of the rotary adsorption part by the separating / moving mechanism include linear reciprocating movement, reciprocating movement along a predetermined unicursal path such as an L-shape or an arc, and unidirectional circular movement such as circular movement, elliptical movement, and oval movement. The separating direction is a direction that includes a component in the thickness direction of the next object to be moved, and includes a direction orthogonal to the first surface of the next object to be moved that is held by the pre-movement holding part and a direction that intersects at an angle with the first surface of the next object to be moved. [Brief explanation of the drawings]

[0033] [Figure 1] 1 is an explanatory diagram showing a schematic configuration of a moving device according to a first embodiment as viewed from above. [Figure 2] 1 is an explanatory diagram showing a schematic configuration of a main part of a moving device according to a first embodiment as viewed from above. [Figure 3] 1 is a front view illustrating a schematic configuration of a moving device according to a first embodiment. [Figure 4]3 is an explanatory diagram showing, in an enlarged scale, the movement of a main part of the moving device according to the first embodiment. FIG. [Figure 5] 5A and 5B are explanatory views illustrating the movement of the suction center point of the suction part according to the first embodiment. [Figure 6] 10 is an explanatory diagram showing the relationship between the supply of an object to be moved and the movement of a main part in the moving device according to the first modified embodiment. FIG. [Figure 7] FIG. 10 is an explanatory front view showing a schematic configuration of a moving device according to a second modified embodiment. [Figure 8] 10 is an explanatory diagram showing the schematic configuration and movement of a moving device according to a second embodiment. FIG. [Figure 9] 10 is an explanatory diagram showing the schematic configuration and movement of a moving device according to a third embodiment. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0034] (Embodiment 1) The moving device 100 according to the first embodiment of the present invention will be described below with reference to Figures 1 to 5. The object MV to be moved by the moving device 100 of the first embodiment is, for example, a highly flexible poultice in the form of a rectangular plate with a thickness of 2 mm, in which a paste is applied in a layer on a nonwoven fabric and a release film is attached to prevent drying (see Figure 3).

[0035] Next, a description will be given of a moving device 100 (see FIGS. 1 to 5) according to the first embodiment. A large number of objects to be moved MV are stacked in the thickness direction TH and held by a pre-movement holding unit 110 of the moving device 100. This pre-movement holding unit 110 holds the large number of objects to be moved MV so that the first object to be moved MVF, which is located at the top and to be moved first, is at a predetermined pre-movement position Pb1. Note that hereinafter, of the large number of objects to be moved MV held by the pre-movement holding unit 110, the object to be moved which is located at the top and to be moved first will be referred to as the first object to be moved MVF, and the object to be moved which is located second from the top and to be moved next to the first object to be moved MVF will be referred to as the next object to be moved MVN, and they may be distinguished from the other objects to be moved MV.

[0036] Furthermore, in this embodiment 1, the object MV moved by the moving device 100 is held at a post-movement position Pf1A, Pf1B in one of the two post-movement holding sections 120A, 120B. In this embodiment, the object MV, which is a poultice, is alternately accumulated in the two post-movement holding sections 120A, 120B by a predetermined number (e.g., seven), and discharged toward a packaging device (not shown) in a subsequent process. For example, while one post-movement holding section 120A is discharging the object MV after accumulating a predetermined number, the first object MVF is accumulated in the other post-movement holding section 120B. By alternately repeating this, the moving device 100 can seamlessly move the object MV set in the pre-movement holding section 110. The number of objects to be moved MV accumulated in each post-movement holding section 120A, 120B is counted using separately provided sensors Se1, Se2 (see Figure 3), and this counting result is used to determine the timing for discharging the accumulated objects to be moved MV toward the packaging device in the subsequent process, and to switch between the two post-movement holding sections 120A, 120B in which to accumulate the objects to be moved MV.

[0037] Next, we will explain the rotary adsorption unit 130, which adsorbs the first-to-be-moved object MVF held in the pre-movement holding unit 110 and moves it to the post-movement holding units 120A, 120B, the planetary gear mechanism 150 that drives this rotary adsorption unit 130, and the adsorption control unit 180 that controls adsorption in the rotary adsorption unit 130.

[0038] First, the planetary gear mechanism 150 will be described. The planetary gear mechanism 150 is broadly composed of an internal gear element 151, multiple (six in this embodiment) planetary gear elements 154, a planet carrier element 158, and a drive motor 159. Of these, the internal gear element 151, made of a metal plate, has an internal gear portion 152 in which a large number of internal teeth 152G are arranged in an annular shape centered on the internal gear axis Xi. Each of the six planetary gear elements 154 is made of a metal or plastic (POM in this embodiment) plate. In this embodiment, the six planetary gear elements 154 are arranged evenly around the circumferential direction of the internal gear portion 152, i.e., at a central angle of 60 degrees from one another. The planetary gear element 154 includes a planetary gear portion 155 in which external teeth 155G that mesh with the internal teeth 152G are arranged in an annular shape centered on the planet axis Xp. The planetary gear body 154, whose external teeth 155G mesh with the internal teeth 152G, revolves along the inner circumference of the internal gear portion 152 and rotates in the opposite direction to the revolution around the planet axis Xp of the planetary gear portion 155, which is parallel to the internal tooth axis Xi.

[0039] Each of the six planetary gear bodies 154 has a shaft hole 154H whose central axis is the planet axis Xp. A straight-rod-shaped planetary shaft 156 made of metal is inserted into this shaft hole 154H and fixed integrally to the planetary gear body 154. The planetary shaft 156 is rotatably inserted into a shaft insertion hole 158H having a larger diameter than the planetary shaft 156 and formed around the periphery of a disk-shaped planetary carrier body 158 made of a metal plate. The planetary shaft 156 is further inserted into a bearing 157 having two coaxially arranged bearing portions 157A, 157B. The bearing 157 is fixed to the planetary carrier body 158. As a result, the planetary gear body 154 is rotatably held by the planetary carrier body 158 in an orientation in which the planet axis Xp is parallel to the carrier axis Xc of the planetary carrier body 158. Furthermore, the planetary carrier body 158 is coupled to an output shaft 159J of a drive motor 159, which is a stepping motor, so as to be rotatable around a carrier axis Xc. The carrier axis Xc is coaxial with the internal gear axis Xi.

[0040] In this planetary gear mechanism 150, the drive motor 159 rotates the planet carrier body 158 around the carrier axis line Xc. As a result, the six planet gear bodies 154 held by the planet carrier body 158 each revolve around the carrier axis line Xc in the same direction as the planet carrier body 158. In addition, because the external teeth 155G mesh with the internal teeth 152G, the planet gear body 154 rotates around the planet axis line Xp in a direction opposite to the rotation of the planet carrier body 158 and the revolution of the planet gear body 154. In the first embodiment, the planet carrier body 158 is rotated counterclockwise (CCW) when viewed from the front as shown in FIG. 3, i.e., when viewed from the observation direction OBH perpendicular to the plane of the paper. As a result, each planetary gear element 154 and the planetary shaft element 156 fixed thereto revolves counterclockwise (CCW) along the internal gear portion 152 and rotates clockwise (CW) about the planet axis line Xp. Specifically, the internal gear portion 152 and the planetary gear portion 155 have a tooth number relationship such that when the planetary gear element 154 revolves around one revolution along the internal gear portion 152, the planetary gear element 154 rotates an integer number of times equal to or greater than two. More specifically, in this embodiment, the number of teeth Zi of the internal teeth 152G of the internal gear portion 152 is 150 (Zi = 150), and the number of teeth Zp of the external teeth 155G of the planetary gear portion 155 is 30 (Zp = 30). Therefore, the planetary gear element 154 rotates exactly four times while revolving around one revolution.

[0041] Next, the rotary attraction unit 130 will be described. The rotary attraction unit 130 has a holding rotation unit that rotates in a rotation direction C1 about a rotation axis X1 that extends in a horizontal direction HH (a planar direction perpendicular to the paper surface in FIG. 3). In this embodiment, the holding rotation unit has a straight rod-shaped holding shaft body 135. In addition to this, the rotary attraction unit 130 also has an attraction structure 131 and a guide body 137.

[0042] Of these, the holder shaft 135 also serves as the planetary shaft 156 described above. That is, in this embodiment, the straight-rod-shaped holder shaft 135 fixes the planetary gear assembly 154 and also serves as the planetary shaft 156 held by the planet carrier assembly 158. Therefore, the rotation axis X1, which is the central axis of the holder shaft 135, coincides with the planetary axis Xp of the planetary gear assembly 154 and the planetary shaft 156. Furthermore, as the planetary gear assembly 154 and the planetary shaft 156 rotate in the clockwise direction CW, the holder shaft 135 also rotates in the same rotation direction C1 as the clockwise direction CW.

[0043] An attraction structure 131 including an attraction portion 132S that attracts and holds an attraction portion MVFs located on the front MHF, which moves first when moving the foremost object MVF as described below, is attached to the radially outer side of the holding shaft 135. Conversely, the holding shaft 135 that holds the attraction portion 132S is located outside the attraction portion 132S. Therefore, when the holding shaft 135 is rotated together with the planetary gear assembly 154 in the rotation direction C1 about the rotation axis X1, the attraction portion 132S rotates around the holding shaft 135 in the rotation direction C1.

[0044] The adsorptive structure 131 has an adsorber 132 that sucks and holds the adsorbed sites MVFs, and a negative pressure generator 133 that generates the negative pressure required for adsorption by the adsorber 132. In this embodiment, the negative pressure generator 133 comprises an inlet pipe 133I that introduces compressed air AR from an inlet 133IO, and a circulation pipe 133T that flows the introduced compressed air AR and releases it from an open port 133TO. The circulation pipe 133T has a throttle section 133TD in its middle that reduces the cross-sectional area of ​​the flow path for the compressed air AR, and negative pressure is generated by the throttle section 133TD.

[0045] The negative pressure generated by the throttle section 133TD is introduced to the suction section 132S, which is a suction cup, through the intake pipe section 132T of the suction body 132. Then, the atmosphere TA is sucked toward the suction section 132S, so that if a suction target portion MVFs of the foremost object MVF is present nearby, the suction section 132S can suction and hold it in contact with the suction section 132S. Note that if the introduction of compressed air AR into the inlet pipe 133I is stopped while the suction section 132S is suctioning the suction target portion MVFs, the atmosphere TA flows back into the flow pipe 133T from the open port 133TO, causing the suction section 132S to stop suctioning the suction target portion MVFs and release it. In other words, the suction section 132S can suction the suction target portion MVFs in a manner that allows it to be adsorbed and released. 1 and 2, in this embodiment, the compressed air AR supplied to the introduction pipe 133I is supplied through air introduction holes 135H, 156H drilled in the holding shaft 135 which also serves as the planetary shaft 156. That is, the introduction pipe 133I communicates with the air introduction holes 135H, 156H via the introduction port 133IO.

[0046] 1 and 2, as shown in FIGS. 3 and 4, on the radially inner side Xci of each rotary adsorption portion 130 of the planetary carrier body 158, a round bar-shaped expansion suppression member 158J protrudes from the planetary carrier body 158 toward the front side of the paper in FIGS. 3 and 4 and is arranged parallel to the holding shaft body 135. The expansion suppression member 158J prevents the rear portion MVFu of the MHB rearward of the adsorption portion MVFs of the foremost movable object MVF, whose adsorption portion MVFs is adsorbed by the adsorption portion 132S, from expanding too far toward the radially outer side X1o of the rotation axis X1 due to centrifugal force. In this embodiment 1, this expansion suppression member 158J is described as having a round bar shape, but it may have any shape that can prevent the rear portion MVFu of the foremost moved object MVF from expanding too far radially outward X1o of the rotation axis X1 due to centrifugal force, and the expansion suppression portion may be constituted by a plate material or multiple rod materials for each rotary adsorption portion 130.

[0047] Furthermore, a guide body 137 is also attached to the radially outer side of the holding shaft body 135. This guide body 137 is roughly disk-shaped and has a cylindrical surface 138S with a cylindrical radius rs (rs = rp) equal to the pitch circle radius rp of the pitch circle Cp of the planetary gear section 155, and the holding shaft body 135 is inserted through the center and fixed to the holding shaft body 135. This guide body 137 is made up of an inner abutment portion 138 that forms the aforementioned cylindrical surface 138S, and a notch portion 139 that is formed by cutting out the cylindrical surface. The intake pipe portion 132T of the adsorber 132 passes through the notch portion 139, and the adsorber 132S is arranged to protrude from the notch portion 139.

[0048] As shown in Fig. 4, the inner contact portion 138 of this guide body 137 is provided upstream C1u (counterclockwise CCW in Fig. 4) of the suction portion 132S in the rotation direction C1 (clockwise CW in Fig. 4), and abuts against a rear portion MVFu of the foremost object to be moved MVF that is attracted to the suction portion 132S and moves in the rotation direction C1 from the radially inner side X1i of the rotation axis X1, thereby separating the entire rear portion MVFu from the rotation axis X1. Therefore, by utilizing the centrifugal force acting on the foremost object to be moved MVF through the rotational movement of the foremost object to be moved MVF, the foremost object to be moved MVF can be appropriately positioned at the post-movement positions Pf1A and Pf1B.

[0049] Next, the adsorption control unit 180 that controls adsorption in the rotary adsorption unit 130 will be described with reference to FIG. 1 . The adsorption control unit 180 of this embodiment mainly comprises a compressed air distribution path 181, an air control valve 182, an individual inflow path 183, a rotary joint 184, an individual outflow path 185, and a valve control circuit 188. Compressed air AR generated by a generation source (not shown) branches into six paths by the compressed air distribution path 181, and the flow of each path is individually controlled by the six air control valves 182. The valve control circuit 188 controls the opening and closing of the six air control valves 182 and the resulting on / off of the flow of compressed air AR. The valve control circuit 188 controls the opening and closing of the six air control valves 182 in synchronization with the rotation of the holder shaft 135 and the adsorption unit 132S in the rotation direction C1 and the revolution of the holder shaft 135 and the planetary gear assembly 154.

[0050] The compressed air AR that has passed through the air control valve 182 is introduced into the rotary joint 184 from six input ports 184I through individual inflow paths 183. The compressed air AR that has passed through the rotary joint 184 flows out from the output port 184O of the rotary joint 184 and is injected into the air introduction holes 156H of the six planetary shafts 156 through individual outlet paths 185. The individual outlet paths 185 are fixed to the air introduction holes 156H of the planetary shafts 156 by pneumatic connectors 186.

[0051] The rotary joint 184 described above has a fixed portion 184F provided with a plurality of input ports 184I, and a rotating portion 184R provided with a plurality of output ports 184O and rotatable about its own rotation axis. This rotary joint 184 has a structure (not shown) in which, even when the rotating portion 184R is rotated, communication is maintained between the corresponding input ports 184I and output ports 184O by air circuits (not shown) provided inside, while airtightness is maintained between different air circuits.

[0052] As described above, the six planetary shafts 156 and the planetary gear assembly 154 revolve around the internal gear axis Xi of the internal gear portion 152. Therefore, in this embodiment, the rotary joint 184 is disposed so that the rotation axis of the rotating portion 184R of the rotary joint 184 coincides with the internal gear axis Xi. Therefore, the rotating portion 184R and the six individual outlet passages 185 of the rotary joint 184 rotate around the internal gear axis Xi together with the revolution of the six planetary shafts 156 and the planetary gear assembly 154. However, even when the rotating portion 184R rotates, the on / off flow of the compressed air AR that is introduced into the air inlet hole 156H and reaches the negative pressure generating unit 133 can be controlled by the valve control circuit 188 via the air control valve 182.

[0053] Furthermore, in the movement device 100 of this embodiment, the rotation axes X1 and planet axes Xp of the six rotational attraction portions 130 and planetary gear bodies 154 are respectively positioned at six directions (angular positions) of 1, 3, 5, 7, 9, and 11 o'clock, as indicated by the direction of the hour hand of a clock centered on the carrier axis Xc, in the front view shown in Fig. 3. Furthermore, in each rotational attraction portion 130, its attraction portion 132S is set to be positioned so that it faces radially outward Xco, as indicated by the direction of the hour hand of a clock centered on its rotation axis X1, i.e., so that it faces the six directions (angular positions) of 1, 3, 5, 7, 9, and 11 o'clock.

[0054] In this embodiment, when the center position of the attraction portion 132S is defined as the attraction center point 132SC, the dimensions of the attraction body 132 are determined so that the distance rd from the rotation axis X1 to the attraction center point 132SC is equal to the pitch circle radius rp of the planetary gear unit 155 (rd = rp) (see FIG. 4). For this reason, when the planetary gear unit 154 is revolved, the locus CTr1 of the attraction center point 132SC in a front view corresponds to the locus of fixed points on the circumference of the dynamic circle when the dynamic circle (pitch circle Cp) rotates without slipping while being inscribed in the fixed circle (pitch circle Ci), assuming that the pitch circle Cp of the planetary gear unit 155 and the pitch circle Ci of the internal gear unit 152 are fixed and the pitch circle Cp is a dynamic circle. That is, the locus of the attraction center point 132SC describes a locus CTr1 of a hexagram-shaped hypocycloid curve, as shown by the thick dashed dotted line in Figures 3 and 4. Moreover, as described above, the internal gear portion 152 and the planetary gear portion 155 have a tooth number relationship such that when the planetary gear body 154 revolves around once, the planetary gear body 154 rotates an integer number of times equal to or greater than two; specifically, the number of teeth Zi of the internal gear portion 152 is 150, and the number of teeth Zp of the planetary gear portion 155 is 30. For this reason, even if the planetary gear body 154 and the rotation attraction portion 130 revolve repeatedly, the attraction center point 132SC of the attraction portion 132S passes along the same locus CTr1. In this manner, in this embodiment, by using the planetary gear mechanism 150, simply by driving the planetary carrier body 158 to rotate with the drive motor 159, the six planetary gear bodies 154 and the rotary attraction portion 130 can be made to revolve counterclockwise CCW around the carrier axis Xc and rotate in the rotation direction C1 (clockwise CW) around the rotation axis X1.

[0055] 3, when the rotating attraction part 130 is in an orientation in which the rotation axis X1 is positioned at the 7 o'clock direction around the carrier axis Xc and the attraction part 132S faces outward, i.e., at the 7 o'clock direction, and is caused to revolve counterclockwise by 60 degrees CCW, the rotating attraction part 130 rotates as shown by the two-dot chain line in FIG. 4, and is positioned at the 5 o'clock direction and the attraction part 132S faces outward, i.e., at the 5 o'clock direction. When it is further revolved counterclockwise by 60 degrees CCW, the rotating attraction part 130 is positioned at the 3 o'clock direction and the attraction part 132S faces outward, i.e., at the 3 o'clock direction.

[0056] Here, when the rotary attraction portion 130 is positioned in the 7 o'clock direction and the attraction portion 132S is facing outward (7 o'clock), the position of the attraction portion 132S is defined as attraction position Ps1. In this embodiment, the timing at which the attraction portion 132S reaches the attraction position Ps1 occurs six times while each of the six rotary attraction portions 130 makes one revolution. As can be easily understood from FIG. 3 , this attraction position Ps1 corresponds to the position on the hexagonal star-shaped locus CTr1 indicated by the thick dashed dotted line that is farthest from the carrier axis line Xc to the radially outer side Xco.

[0057] In this embodiment, the position of the adsorption part 132S when the rotary adsorption part 130 is located in the 5 o'clock direction and the adsorption part 132S is facing outward (at 5 o'clock) is defined as release position Pr1A. The position of the adsorption part 132S when the rotary adsorption part 130 is located in the 3 o'clock direction and the adsorption part 132S is facing outward (at 3 o'clock) is defined as release position Pr1B.

[0058] 3 and 4, the pre-movement holding unit 110 positions the foremost object to be moved MVF, which is the uppermost object among the many objects to be moved MV held by the pre-movement holding unit 110, at a pre-movement position Pb1. Specifically, the foremost object to be moved MVF is positioned at the pre-movement position Pb1 so that the adsorption unit 132S, which has reached the adsorption position Ps1 and is facing the 7 o'clock direction, abuts or approaches the adsorption portion MVFs of the front MHF (left side in FIGS. 3 and 4) of the foremost object to be moved MVF.

[0059] Post-movement holding section 120A is arranged to receive the foremost object to be moved MVF (object to be moved MV) that has reached release position Pr1A and been released from suction section 132S facing the 5 o'clock direction and thrown radially outward X1o from rotation axis X1, and to accumulate and hold it at post-movement position Pf1A. Post-movement holding section 120B is arranged to receive the foremost object to be moved MVF (object to be moved MV) that has reached release position Pr1B and been released from suction section 132S facing the 3 o'clock direction and thrown radially outward X1o from rotation axis X1, and to accumulate and hold it at post-movement position Pf1B.

[0060] Using the moving device 100 as described above, the first object to be moved MVF among the many objects to be moved MV held in the pre-movement holding section 110 is moved to the post-movement holding section 120A or the post-movement holding section 120B.

[0061] That is, in the movement device 100 of this embodiment, in synchronization with the revolution of the six rotary suction units 130 in the counterclockwise direction CCW and the rotation in the rotation direction C1 (clockwise direction CW), when the suction unit 132S of each rotary suction unit 130 reaches the suction position Ps1, the valve control circuit 188 drives the air control valve 182 to supply compressed air AR to the negative pressure generator 133, causing the suction unit 132S to suction the suctioned portion MVFs of the foremost object to be moved MVF held at the pre-movement position Pb1. Then, the rotation of the suction unit 132S in the rotation direction C1 about the rotation axis X1 (rotation) starts the movement of the foremost object to be moved MVF in the rotation direction C1. At the same time, the revolution of the rotary suction unit 130 starts the movement of the foremost object to be moved MVF in the counterclockwise direction CCW about the carrier axis Xc.

[0062] Thereafter, the suction unit 132S, which has attracted the attracted portion MVFs of the foremost object MVF to be moved, revolves 60° around the carrier axis Xc and rotates around the rotation axis X1. Then, when the hour hand passes 12 o'clock once and reaches the release position Pr1A, the valve control circuit 188 turns off the air control valve 182 to stop the flow of compressed air AR, releasing the attraction of the attracted portion MVFs to the suction unit 132S and causing the attracted portion MVFs to detach from the suction unit 132S. As a result, the foremost object MVF, which had been moving together with the rotary suction unit 130, is thrown radially outward X1o of the rotation axis X1 by centrifugal force. As shown in FIGS. 3 and 4, the rear portion MVFu of the foremost object MVF to fall, tracing a larger arc than the attracted portion MVFs, and is positioned at the post-movement position Pf1A of the post-movement holding unit 120A.

[0063] Alternatively, the attraction unit 132S, which has attracted the attracted portion MVFs of the foremost object MVF to be moved, revolves 120° around the carrier axis Xc and rotates around the rotation axis X1. Then, when the hour hand passes 12 o'clock twice and reaches the release position Pr1B, the valve control circuit 188 controls the attraction unit 132S to release the attracted portion MVFs and detach the attracted portion MVFs from the attraction unit 132S. As a result, the foremost object MVF, which has been moving together with the rotary attraction unit 130, is thrown by centrifugal force to the radial outside X1o of the rotation axis X1 and is positioned at the post-movement position Pf1B of the post-movement holding unit 120B, as shown in FIG. 3.

[0064] Thus, with this moving device 100, flexible, sheet-like objects MV to be moved, such as poultices, can be reliably moved from the pre-movement position Pb1 to the post-movement positions Pf1A and Pf1B. Furthermore, at the beginning of the movement, the foremost object MVF to be moved, which has adsorbed the adsorption portion MVFs, is moved in the rotation direction C1 so as to bend in an arc, which makes it easy to prevent the occurrence of a double-feed phenomenon in which the next object MVN to be moved moves together with the foremost object MVF.

[0065] As mentioned above, the number of objects MV to be moved is counted by separately provided sensors Se1 and Se2, and the first object MVF to be moved is selected to be placed at either the post-movement position Pf1A of the post-movement holding unit 120A or the post-movement position Pf1B of the post-movement holding unit 120B.

[0066] 4, the planetary gear mechanism 150 in this embodiment is a mechanism that translates the rotary attraction part 130 in an orthogonal direction OH perpendicular to the rotation axis X1 in synchronization with the rotation of the rotary attraction part 130 caused by the rotation of the holding shaft 135. Moreover, the planetary gear mechanism 150 also serves as a deceleration movement mechanism that causes the rotary attraction part 130 to move such that, among the movement speeds of the attraction part 132S when reaching the attraction position Ps1, the attraction part creeping speed Vs1 in a creeping first direction H1 along a first surface MVF1 that is the upper attracted surface of the foremost moved object MVF, perpendicular to the rotation axis X1, and toward the front side MHF, is slower than the peripheral speed Vp of the attraction part 132S caused by the rotation of the holding shaft 135 in the rotation direction C1. That is, although the rotation of the holding shaft 135 causes the suction portion 132S to rotate in the rotation direction C1 at a peripheral speed Vp, the suction portion surface speed Vs1 of the suction portion 132S that has reached the suction position Ps1 is slower than the peripheral speed Vp.

[0067] More specifically, the movement of the suction part 132S is given by a combination of a rotational movement at a peripheral speed Vp in the rotation direction C1 (clockwise CW) and a revolutionary movement of the suction part 132S due to the revolutionary movement of the rotary suction part 130. For this reason, the suction part surface speed Vs1 of the suction part 132S at the suction position Ps1 facing the 7 o'clock direction shown in the leftmost diagram in Fig. 4 is a combination (specifically, subtraction) of the peripheral speed Vp due to the rotation in the rotation direction C1 (clockwise CW) and the revolutionary speed Vr of the suction part 132S facing the counterclockwise CCW, and since the suction part surface speed Vs1 is significantly slower than the peripheral speed Vp, the suction part 132S can reliably suction the suction target site MVFs.

[0068] Particularly, in this moving device 100, as described above, the distance rd from the rotation axis X1 to the adsorption center point 132SC is made equal to the pitch circle radius rp of the pitch circle Cp of the planetary gear part 155 (rd = rp), and the adsorption center point 132SC moves on a hexagram-shaped locus CTr1. Moreover, the adsorption position Ps1 is set as the position on the locus CTr1 that is the farthest from the carrier axis Xc in the radially outer direction Xco, that is, the position where the locus CTr1 overlaps with the pitch circle Ci of the internal gear part 152. At this adsorption position Ps1, the moving speed of the adsorption center point 132SC can be set to 0 (the adsorption part surface speed Vs1 is also 0). That is, when viewed from the adsorbed part MVFs of the foremost object to be moved MVF, the adsorption part 132S that has reached the adsorption position Ps1 appears not to move and seems to be stationary, so the adsorbed part MVFs can be adsorbed particularly reliably by this adsorption part 132S.

[0069] In the first embodiment, as described above, the distance rd from the rotation axis X1 to the adsorption center point 132SC is made equal to the pitch circle radius rp of the pitch circle Cp of the planetary gear part 155 (rd = rp). However, as shown in FIG. 5, the distance rd2 may be made longer than the pitch circle radius rp (rd2 > rp), or shorter (rd3 < rp). In these cases, the locus of the adsorption center point 132SC is a hypotrochoid curve that takes the pitch circle radius ri of the pitch circle Ci of the fixed circle internal gear part 152 and a moving circle, with the adsorption center point 132SC as the drawing point.

[0070] Among these, when the distance rd2 from the rotation axis X1 to the adsorption center point 132SC is made longer than the pitch circle radius rp (rd2 > rp), the locus CTr2 shown by the two-dot chain line is obtained. In this case, depending on the timing, the adsorption center point 132SC may protrude radially outward Xco from the pitch circle Ci of the internal gear part 152. On the other hand, when the distance rd3 is made shorter than the pitch circle radius rp (rd3 < rp), the locus CTr3 shown by the broken line is obtained. In this case, at any timing, the adsorption center point 132SC is located radially inward Xci from the pitch circle Ci of the internal gear part 152.

[0071] However, in any of the loci CTr1, CTr2, and CTr3, the moving speed of the attraction center point 132SC at the position farthest from the carrier axis Xc to the radially outer side Xco, that is, when the rotation axis X1 is located in the 7 o'clock direction and the attraction portion 132S faces the 7 o'clock direction of the radially outer side Xco as shown at the left end of Fig. 5, is the lowest compared to other positions (the same applies to the state where the attraction portion 132S faces the 5 o'clock direction of the radially outer side Xco). Therefore, by setting the state where the rotation axis X1 is located in the 7 o'clock direction and the attraction portion 132S faces the 7 o'clock direction of the radially outer side Xco as the attraction position Ps1, it is preferable to reduce the moving speed of the attraction center point 132SC and increase the reliability of attraction of the attraction portion 132S to the attraction portion MVFs.

[0072] As described above, this embodiment also includes an expansion suppression member 158J that protrudes from the planet carrier body 158 (see FIGS. 3 and 4). The expansion suppression member 158J comes into contact with the rear portion MVFu of the foremost moved object MVF, which has been moving together with the rotary attraction portion 130, and prevents the rear portion MVFu from expanding too far toward the radially outer side X1o of the rotation axis X1 due to centrifugal force. This helps the foremost moved object MVF, which has reached the release position Pr1A or the release position Pr1B and been thrown toward the radially outer side X1o of the rotation axis X1, to be appropriately positioned at the post-movement position Pf1A or the post-movement position Pf1B.

[0073] In the first embodiment, the suction position Ps1 at which the suction portion 132S suctions the suction target portion MVFs is set to a position where the rotary suction portion 130 is positioned at 7 o'clock and the suction portion 132S faces outward (at 7 o'clock). However, the suction position Ps1 may be selected within the angular range of 4 to 9 o'clock, as indicated by the position of the hour hand of a clock, around the rotation axis X1.

[0074] In the first embodiment, the release position Pr1A at which the attracted portion MVFs is released from the attracting portion 132S is determined to be the timing when the rotary attracting portion 130 is positioned at 5 o'clock and the attracting portion 132S is facing outward (toward 5 o'clock). The release position Pr1B is determined to be the timing when the rotary attracting portion 130 is positioned at 3 o'clock and the attracting portion 132S is facing outward (toward 3 o'clock). However, the release position may be selected within an angle range of 1 to 8 o'clock around the rotation axis X1 after the hour hand of a clock has passed 12 o'clock at least once. For example, in the present embodiment, the release positions Pr1A and Pr1B are determined to be the positions at which the attracting portion 132S is facing outward (toward 5 or 3 o'clock). However, the release positions Pr1A and Pr1B may be varied depending on the flexibility of the object MV to be moved. For example, the release position may be changed to a release position corresponding to a timing slightly earlier or slightly later than that described above, specifically, a release position slightly earlier in which the rotating attraction unit 130 is positioned approximately at 5 o'clock and the attraction unit 132S is oriented toward 4 o'clock. In this case, the positions and attitudes of the post-movement holding units 120A and 120B and the post-movement positions Pf1A and Pf1B may also be adjusted appropriately.

[0075] In the first embodiment, six planetary gear bodies 154 are used, and these are evenly arranged within the internal gear portion 152. Six rotary attraction portions 130 are coupled to the six planetary gear bodies 154, respectively. However, it is sufficient to use at least one planetary gear body 154 and one rotary attraction portion 130. As in the first embodiment, six planetary gear bodies 154 are used, but one or more rotary attraction portions 130 (six or less, the same as the planetary gear bodies) may be used, such as only four rotary attraction portions 130 coupled to the planetary gear bodies 154. Furthermore, multiple planetary gear bodies 154 may be unevenly arranged on the inner circumference of the internal gear portion 152.

[0076] Furthermore, in this embodiment, the holding shaft 135, which is the holding rotation part, is also used as the planetary shaft 156, thereby coupling the holding rotation part with the planetary gear body 154, and causing the holding rotation part to rotate with the rotation of the planetary gear body 154. However, it is sufficient for the holding rotation part to be provided coaxially and integrally with the planetary gear body 154, with the rotation axis X1 coinciding with the planetary axis Xp, and the planetary gear body and the holding rotation part may be formed integrally, or the planetary gear body and the holding rotation part may be separate entities fixed coaxially.

[0077] 4, in this embodiment 1, a number of objects to be moved MV, including the foremost object to be moved MVF, are stacked in a flat position in the thickness direction TH and held by the pre-movement holding unit 110. In addition, the pre-movement holding unit 110 places the foremost object to be moved MVF at a pre-movement position Pb1 in an attitude inclined counterclockwise by a small angle θ, such that the thickness direction TH at the adsorbed portion MVFs of the foremost object to be moved MVF does not coincide with the direction of the radially outer side X1o of the rotation axis X1 or the direction of the radially outer side Xco of the carrier axis Xc.

[0078] For this reason, the suction portion 132S suctions the suction portion MVFs, and the movement of the foremost object to be moved MVF begins. As shown in FIG. 4, for a while after the start of movement, the cylindrical surface 138S of the rotating and revolving inner contact portion 138 rolls on the elastic rear portion MVFu of the foremost object to be moved MVF, causing the rear portion MVFu of the foremost object to be moved MVF to wrap around the cylindrical surface 138S of the inner contact portion 138, moving the foremost object to be moved MVF. This makes it less likely that the moving foremost object to be moved MVF will rub against the next object to be moved MVN immediately below, further preventing double feeding. It also prevents scratches on the second surface MVF2 below the foremost object to be moved MVF and the first surface MVN1 above the next object to be moved MVN.

[0079] (Variation 1) Next, a moving device 200 according to a first modified example of the first embodiment will be described with reference to Fig. 6. The moving device 200 is similar to the moving device 100 of the first embodiment except for the pre-movement holding unit 210, and therefore the description of the similar parts will be omitted or simplified.

[0080] 4 and 6, the pre-movement holding unit 110 of the first embodiment holds each of the multiple objects MV stacked in the thickness direction TH flat. In contrast, the pre-movement holding unit 210 of the first modified embodiment also holds the multiple objects MV stacked in the thickness direction TH, but differs in that it holds each object MV in a state where it is bent downward in a convex shape as shown in FIG. 6. The pre-movement holding unit 210 positions and holds the top, foremost object MVF of the multiple objects MV at the pre-movement position Pb2 such that its top surface, that is, a first surface MVF1, forms a cylindrical surface that coincides with the pitch circle Ci of the internal gear portion 152.

[0081] In this modified embodiment 1, the position of the adsorption unit 132S when the rotary adsorption unit 130 is located in the 7 o'clock direction and the adsorption unit 132S is facing outward (toward 7 o'clock), as shown on the left side in Fig. 6, is defined as adsorption position Ps2. As in embodiment 1, when the rotary adsorption unit 130 and its adsorption unit 132S reach this adsorption position Ps2, the adsorption unit 132S adsorbs the adsorbed portion MVFs of the foremost object to be moved MVF. Then, as in embodiment 1, the rotary adsorption unit 130 is rotated in the rotation direction C1 while revolving counterclockwise CCW, thereby moving the adsorbed foremost object to be moved MVF.

[0082] As with the moving device 100 of embodiment 1, the rotary adsorption section 130 is located upstream C1u of the adsorption section 132S in the rotation direction C1, i.e., counterclockwise CCW in Figure 6, and includes a cylindrical surface 138S with a cylindrical radius rs (rs = rd) equal to the distance rd from the rotation axis X1 to the adsorption center point 132SC, and has an inner abutment section 138 that abuts the rear portion MVFu of the foremost moved object MVF, which is adsorbed by the adsorption section 132S and moving in the rotation direction C1, with the cylindrical surface 138S from the radially inner side X1i of the rotation axis X1, thereby separating this rear portion MVFu from the rotation axis X1.

[0083] Then, the rotary attraction part 130 and the planetary gear mechanism 150 rotate and move the attraction part 132S, which has attracted the attracted portion MVFs of the foremost object to be moved MVF, in the rotation direction C1 around the rotation axis X1. At the same time, while maintaining the cylindrical radius rs between the rotation axis X1 and the foremost object to be moved MVF, the rotary attraction part 130 (its attraction part 132S and inner abutment part 138) is moved in the second creeping direction H2 opposite to the first creeping direction H1 along the foremost object to be moved MVF held at the pre-movement position Pb2. Specifically, the rotary attraction part 130 is revolved in the counterclockwise direction CCW. Then, the rear portion MVFu of the foremost object to be moved MVF is brought into contact with the cylindrical surface 138S of the inner contact portion 138 without sliding, and the foremost object to be moved MVF is moved from the pre-movement position Pb2 to the post-movement positions Pf1A and Pf1B without rubbing against the next object to be moved MVN below.

[0084] The movement device 200 of this first modified embodiment also has an inner abutment portion 138 forming a cylindrical surface 138S on the rotational attraction portion 130. Therefore, the foremost object to be moved MVF can be rotationally moved while the entire rear portion MVFu of the foremost object to be moved MVF is spaced away from the rotation axis X1, and the centrifugal force acting on the foremost object to be moved MVF can be used to appropriately position the foremost object to be moved at a post-movement position Pf1A or the like.

[0085] Furthermore, the rotation and revolution of the rotary suction part 130 causes the rear portion MVFu of the foremost object to be moved MVF to wrap around the cylindrical surface 138S of the inner abutment part 138, moving the foremost object to be moved MVF from the pre-movement position Pb2 without rubbing against the next object to be moved MVN. This further prevents the foremost object to be moved MVF, which is being attracted to the suction part 132S and moving, from rubbing against the next object to be moved MVN, which would otherwise result in double feeding of the next object to be moved. It also prevents scratches on the second surface MVF2 below the foremost object to be moved MVF and the first surface MVN1 above the next object to be moved MVN, which would otherwise be caused by rubbing against each other.

[0086] (Variation 2) Next, a moving device 300 according to a second modified example of the first embodiment will be described with reference to Fig. 7. The moving device 300 is similar to the moving device 100 of the first embodiment except for the pre-movement holding unit 310 and the post-movement holding units 320A, 320B, and 320C, and therefore descriptions of similar parts will be omitted or simplified.

[0087] As can be easily understood by comparing Fig. 3 and Fig. 7, in the movement device 100 of the first embodiment, the pre-movement holder 110 is disposed on the lower left side (approximately in the 6-7 o'clock direction) of the planetary carrier body 158 in Fig. 3. Furthermore, the two post-movement holders 120A and 120B are disposed on the lower right side (approximately in the 4-5 o'clock direction) and the right side (approximately in the 3 o'clock direction) of the planetary carrier body 158 in Fig. 3. In contrast, the pre-movement holder 310 of the second modified embodiment is disposed on the left side (approximately in the 8-9 o'clock direction) of the planetary carrier body 158 in Fig. 7. Furthermore, the three post-movement holders 320A, 320B, and 320C are disposed on the lower left side (approximately in the 6-7 o'clock direction), lower right side (approximately in the 4-5 o'clock direction), and right side (approximately in the 3 o'clock direction) of the planetary carrier body 158 in Fig. 7.

[0088] The pre-movement holding section 310 moves a number of objects to be moved MV placed vertically on the conveyor 310A in the thickness direction TH while pressing them from the left side of the figure with the support member 310B, and supplies the first object to be moved MVF to the rotating suction section 130, which is positioned at the 9 o'clock direction and has its suction section 132S facing the 9 o'clock direction, at suction position Ps3.

[0089] The moving device 300 moves the first-to-be-moved object MVF that has been attracted to the attracting unit 132S at attracting position Ps3, and when the object reaches release position Pr3A, where the hour hand passes 12 o'clock once and faces the 7 o'clock direction, the moving device 300 detaches the attracted portion MVFs from the attracting unit 132S and places it in post-movement position Pf3A of the post-movement holding unit 320A. Alternatively, when the object reaches release position Pr3B, where the hour hand passes 12 o'clock twice and faces the 5 o'clock direction, the moving device 300 detaches the attracted portion MVFs from the attracting unit 132S and places it in post-movement position Pf3B of the post-movement holding unit 320B. Alternatively, when the object reaches release position Pr3C, where the hour hand passes 12 o'clock three times and faces the 3 o'clock direction, the moving device 300 detaches the attracted portion MVFs and places it in post-movement position Pf3C of the post-movement holding unit 320C. Thus, in the moving device 300 of the second modified embodiment, a large number of stacked objects to be moved MV can be distributed to three post-movement positions Pf3A, etc. The number of objects to be moved MV accumulated in the three post-movement holding sections 320A, 320B, 320C can be counted using separately provided sensors Se1 to Se3, and this counting result can be used to switch which post-movement holding section 320A, etc. to accumulate the objects to be moved MV.

[0090] (Embodiment 2) Next, a moving device 400 according to a second embodiment will be described with reference to Fig. 8. The moving device 400 uses one rotary attraction unit 130 and a deceleration moving mechanism 450 that moves the rotary attraction unit 130 in a circular motion along an elliptical annular locus DTr.

[0091] Of the moving device 400, the configuration of the rotary adsorption unit 130 is the same as in the first embodiment, and will be described briefly. The rotary adsorption unit 130 has a straight rod-shaped holding shaft 135 that rotates in a rotation direction C1 about a rotation axis X1 that extends in a horizontal direction HH (a planar direction perpendicular to the paper surface in FIG. 8). Note that, like FIG. 3, FIG. 8 is shown with the observation direction OBH, in which the rotation direction C1 is clockwise CW, pointing perpendicular to the paper surface.

[0092] The rotary adsorption unit 130 includes a holding shaft 135, an adsorption structure 131, and a guide body 137 similar to those in the first embodiment. The adsorption structure 131 includes an adsorption unit 132S that adsorbs and detaches an adsorption target portion MVFs of the foremost object MVF to be moved. Attached to the radially outer side of the holding shaft 135 is the adsorption structure 131. Therefore, when the holding shaft 135 is rotated in a rotation direction C1 around the rotation axis X1, the adsorption unit 132S rotates around the holding shaft 135 in the rotation direction C1. Meanwhile, the guide body 137 includes an inner abutment portion 138 that forms a cylindrical surface 138S and a notch 139 cut out from the cylindrical surface, and is fixed to the holding shaft 135 that is inserted through the center. Similar to the first embodiment and the first modified embodiment, the cylindrical radius rs of the cylindrical surface 138S is equal to the distance rd from the rotation axis X1 to the adsorption center point 132SC (rs = rd).

[0093] In the moving device 400, the holding shaft 135 of the rotary adsorption unit 130 is coupled to a drive motor (not shown) and rotated in a rotation direction C1. The holding shaft 135 is rotatably held by a deceleration movement mechanism 450 (described below). The moving device 400 also has an adsorption control unit 480 (not shown in detail) that is generally similar to the adsorption control unit 180 of the first embodiment, and this adsorption control unit 480 controls the generation of negative pressure caused by the flow of compressed air AR, thereby making it possible to control the adsorption and detachment of the adsorbed sites MVFs in the adsorption unit 132S.

[0094] Although the configuration of the deceleration movement mechanism 450 is not shown in detail, it is a movement mechanism that rotatably holds the holding shaft 135 and translates the rotary attraction unit 130, including the holding shaft 135, in a direction perpendicular to the rotation axis X1 in synchronism with the rotation of the holding shaft 135 in a direction OH (a direction parallel to the plane of the paper in FIG. 8 ) perpendicular to the rotation axis X1. Specifically, as shown by the thick arrow in FIG. 8 , the deceleration movement mechanism 450 translates the rotary attraction unit 130 along an elliptical circular locus DTr that is long in the left-right direction and is indicated by a dashed-dotted line, so that the rotary attraction unit 130 moves to the right in the lower straight portion DTr1 and to the left in the upper straight portion DTr3. Note that in the movement device 400, a synchronization relationship is set so that the rotary attraction unit 130 (holding shaft 135) rotates exactly two times while the rotary attraction unit 130 (holding shaft 135) revolves around the locus DTr once.

[0095] 8, the position immediately after the start of the lower straight line portion of the trajectory DTr, i.e., the position where the suction part 132S faces the 6 o'clock position indicated by the hour hand of a clock around the rotation axis X1, is taken as suction position Ps4. Also, as shown by the solid line at the right end of Fig. 8, the release position Pr4 is the intermediate position of the right-side arc portion DTr2 of the trajectory DTr, i.e., the position where the suction part 132S faces the 4:30 position indicated by the hour hand of a clock around the rotation axis X1.

[0096] Furthermore, the pre-movement holding unit 410 positions the foremost object to be moved MVF, which is located at the top of the many objects to be moved MV that it holds, at a pre-movement position Pb4. Specifically, the pre-movement holding unit 410 positions the foremost object to be moved MVF at the pre-movement position Pb4 such that the suction part 132S comes into contact with or comes close to the suction part MVFs on the front MHF (left side in FIG. 8) of the foremost object to be moved MVF when the suction part 132S reaches the suction position Ps4 and faces the 6 o'clock direction.

[0097] In addition, the post-movement holding section 420 is positioned to receive the first-to-be-moved object MVF that has reached the release position Pr4 and been released from the suction section 132S facing the 4:30 direction, and has been thrown radially outward X1o from the rotation axis X1, and to accumulate and hold it at the post-movement position Pf4.

[0098] When the adsorption section 132S reaches the adsorption position Ps4, the adsorption control section 480 of the moving device 400 controls the compressed air AR to adsorb the adsorbed portion MVFs to the adsorption section 132S, thereby starting the movement of the first object to be moved MVF in the rotation direction C1.

[0099] Additionally, the moving device 400 is equipped with a deceleration movement mechanism 450. This deceleration movement mechanism 450 causes the rotational attraction unit 130 to move such that, when the attraction unit 132S reaches the attraction position Ps4, the attraction unit's surface velocity Vs1 in a surface first direction H1 (leftward in FIG. 8 ) along the first surface MVF1, which is the top surface of the first object MVF to be moved, is perpendicular to the rotation axis X1 and toward the front MHF, and is slower than the circumferential velocity Vp of the attraction unit 132S caused by the rotation of the holding shaft 135. Specifically, the rotational attraction unit 130 moves in a surface second direction H2 (rightward in FIG. 8 ), thereby offsetting the movement of the attraction unit 132S in the surface first direction H1 at the circumferential velocity Vp and reducing the attraction unit's surface velocity Vs1. This allows the attraction unit 132S to reliably attract the attraction target MVFs.

[0100] In particular, the deceleration movement mechanism 450 of the second embodiment moves the rotary adsorption part 130 at a movement speed Vm in a second creeping direction H2 (to the right in the drawing) that is the same magnitude as the circumferential speed Vp and that is opposite to the first creeping direction H1, so that the adsorption part creeping speed Vs1 is 0. Therefore, when viewed from the adsorption part MVFs of the foremost moved object MVF, the adsorption part 132S that reaches the adsorption position Ps4 appears to be stationary and not moving, so that the adsorption part MVFs can be particularly reliably adsorbed by this adsorption part 132S.

[0101] After that, the attraction unit 132S, which has attracted the attracted portion MVFs of the foremost object MVF to the rotation axis X1, revolves along the trajectory DTr. That is, it moves in the second creeping direction H2 (to the right in the figure) and rotates around the rotation axis X1. Then, when the hour hand passes 12 o'clock once and reaches the release position Pr4, the attraction control unit 480 releases the attraction of the attracted portion MVFs in the attraction unit 132S and detaches the attracted portion MVFs from the attraction unit 132S. As a result, the foremost object MVF, which has been moving together with the rotary attraction unit 130, is thrown radially outward X1o of the rotation axis X1 by centrifugal force. As shown in FIG. 8, the rear portion MVFu of the foremost object MVF falls while tracing a larger arc than the attracted portion MVFs and is positioned at the post-movement position Pf4 of the post-movement holding unit 420.

[0102] Thus, even with this moving device 400, it is possible to reliably move a flexible, single-sheet object MV from the pre-movement position Pb1 to the post-movement positions Pf1A, Pf1B. Furthermore, because the foremost object MVF that has adsorbed the adsorbed portion MVFs is moved in the rotation direction C1 so as to bend in an arc, it is easy to prevent the occurrence of double feeding of the next object MVN to be moved.

[0103] 8, the rotary attraction unit 130 and the deceleration movement mechanism 450 rotate and move the attraction unit 132S, which has attracted the attraction target portion MVFs, around the rotation axis X1 in the rotation direction C1. At the same time, while maintaining the distance between the rotation axis X1 and the object MVF to be moved equal to the cylindrical radius rs, the rotary attraction unit 130 (its attraction unit 132S and inner contact portion 138) moves in the second creeping direction H2 (to the right in the figure) along the foremost object MVF held at the pre-movement position Pb4. Specifically, the rotary attraction unit 130 advances to the right in the figure along the straight portion DTr1 of the trajectory DTr. Then, the rear portion MVFu of the foremost object MVF abuts against the cylindrical surface 138S of the inner contact portion 138 without sliding, and the foremost object MVF moves from the pre-movement position Pb5 to the post-movement position Pf5 without rubbing against the next object MVN to be moved.

[0104] This causes the rear portion MVFu of the foremost object to be moved MVF to wrap around the cylindrical surface 138S of the inner abutment portion 138, moving the foremost object to be moved MVF from the pre-movement position Pb4. This makes it less likely that the foremost object to be moved MVF, which is being attracted to the suction portion 132S and moving, will rub against the next object to be moved MVN, further suppressing double feeding and ensuring separation of the two. It also prevents scratches on the second surface MVF2 below the foremost object to be moved MVF and the first surface MVN1 above the next object to be moved MVN.

[0105] Although the above-described moving device 400 uses one rotary adsorption unit 130, multiple units may be used. Furthermore, the locus DTr of movement of the rotation axis X1 by the deceleration moving mechanism 450 is an elliptical ring shape that is long in the left-right direction in Fig. 8. However, the movement may also be along another locus, such as an elliptical ring shape with the major axis rising to the right.

[0106] (Embodiment 3) Next, a moving device 500 according to a third embodiment will be described with reference to Fig. 9. The moving device 500 uses one rotary attraction unit 130 and a separating movement mechanism 550 that moves the rotary attraction unit 130 back and forth along a linear trajectory ETr.

[0107] Of the moving device 500, the configuration of the rotary adsorption unit 130 will be described briefly as it is the same as in embodiment 2. Note that, like in Figs. 3 and 8, Fig. 9 also shows the observation direction OBH, in which the rotation direction C1 is clockwise CW, pointing perpendicular to the paper surface.

[0108] The rotary adsorption section 130 has a straight rod-shaped holding shaft 135 that rotates in a rotation direction C1 around the rotation axis X1, an adsorption structure 131 including an adsorption section 132S that adsorbs the adsorption portion MVFs on the radial outside of the holding shaft 135, and a guide body 137 that is fixed to the holding shaft 135 and consists of an inner abutment section 138 forming a cylindrical surface 138S and a cutout section 139.

[0109] In the moving device 500, the holding shaft 135 of the rotary adsorption unit 130 is also coupled to a drive motor (not shown) and rotated in the rotation direction C1. The holding shaft 135 is rotatably held by a separating / moving mechanism 550 (described below). The moving device 500 also has an adsorption control unit 580 (details not shown) that is generally similar to the adsorption control unit 480 of the second embodiment, and the adsorption control unit 580 controls the generation of negative pressure caused by the flow of compressed air AR, thereby making it possible to control the adsorption and detachment of the adsorbed sites MVFs in the adsorption unit 132S.

[0110] Although the configuration of the separating / moving mechanism 550 is not shown in detail, it is a moving mechanism that rotatably holds the holding shaft 135 and moves the rotary attraction unit 130 including the holding shaft 135 in parallel in an orthogonal direction OH (a direction parallel to the plane of the paper in FIG. 9 ) perpendicular to the rotation axis X1 in synchronization with the rotation of the holding shaft 135. Specifically, as shown by the thick arrow in FIG. 9 , the separating / moving mechanism 550 moves the rotary attraction unit 130 back and forth linearly along a linear locus ETr extending in the up-down direction indicated by a dashed line. Note that in the moving device 500, a synchronization relationship is set so that the rotary attraction unit 130 (holding shaft 135) rotates exactly two times while the rotary attraction unit 130 (holding shaft 135) moves back and forth once along the locus ETr.

[0111] 9, the position of the lowest end of the trajectory ETr, i.e., the position where the adhesion part 132S faces the 7 o'clock position indicated by the hour hand of a clock around the rotation axis X1, is set to adhesion position Ps5. Also, as shown by the second solid line from the top in FIG. 9, the release position Pr5 is the upper position of the trajectory ETr, i.e., the position where the adhesion part 132S faces the 4:30 position indicated by the hour hand of a clock around the rotation axis X1.

[0112] Furthermore, the pre-movement holding unit 510 positions the foremost object to be moved MVF, which is located at the top of the multiple objects to be moved MV held in a stack, at a pre-movement position Pb5. Specifically, the pre-movement holding unit 510 positions the foremost object to be moved MVF at the pre-movement position Pb5 where the suction unit 132S abuts or approaches the suction portion MVFs on the front MHF (upper left side in FIG. 9) of the foremost object to be moved MVF when the suction unit 132S reaches the suction position Ps5 and faces the 7 o'clock direction. Furthermore, the multiple objects to be moved MV are held in such a manner that the foremost object to be moved MVF held at the pre-movement position Pb5 overlaps with the next object to be moved MVN to be moved next.

[0113] In addition, the post-movement holding section 520 is positioned to receive the first-to-be-moved object MVF that has reached the release position Pr5 and been released from the suction section 132S facing the 4:30 direction, and has been thrown radially outward X1o from the rotation axis X1, and to accumulate and hold it at the post-movement position Pf5.

[0114] When the adsorption section 132S reaches the adsorption position Ps5, the adsorption control section 580 of the moving device 500 causes the adsorption section 132S to adsorb the adsorbed portion MVFs, and starts moving the foremost moved object MVF in the rotation direction C1.

[0115] In addition, the moving device 500 is equipped with a separating movement mechanism 550. This separating movement mechanism 550 moves the rotary suction part 130 in the separating direction DH (upward in the third embodiment) so as to move the suctioned portion MVFs of the foremost object to be moved MVF, which has been suctioned by the suction part 132S at the suction position Ps5, in the separating direction DH (upward in the third embodiment) including a component in the thickness direction THn of the next object to be moved MVN (lower left-upper right direction in the third embodiment) and separate it from the next object to be moved MVN.

[0116] That is, as shown by the dashed line at the bottom, the adsorption portion MVFs is adsorbed to the adsorption portion 132S facing the 7 o'clock direction at the adsorption position Ps5, and the first object to be moved MVF is rotated in the rotation direction C1. At the same time, the rotary adsorption portion 130 is moved upward in the separation direction DH. Then, as shown by the solid line at the bottom, at the timing when the adsorption portion 132S faces the 8 o'clock direction after starting to move, the adsorption portion 132S rotates by 30 degrees in the rotation direction C1 (clockwise CW) around the rotation axis X1, and the entire rotary adsorption portion 130 including the adsorption portion 132S is pulled upward. Thus, with this moving device 500, not only is the adsorption portion MVFs of the first object to be moved MVF adsorbed by the adsorption portion 132S at the adsorption position Ps5 bent in an arc near the adsorption portion MVFs, but the first object to be moved MVF can also be moved in the rotation direction C1 while being separated from the next object to be moved MVN. This further reduces the likelihood of double feeding or misalignment of the next moving object MVN.

[0117] Subsequently, the suction unit 132S, which has attracted the attracted portion MVFs of the foremost object MVF to be moved, moves along the trajectory ETr. That is, it moves upward in the figure and rotates around the rotation axis X1. Then, when the suction unit 132S passes 12 o'clock once at the hour hand position and reaches the release position Pr5, the suction control unit 580 releases the suction of the attracted portion MVFs in the suction unit 132S and detaches the attracted portion MVFs from the suction unit 132S. As a result, the foremost object MVF, which has been moving together with the rotary suction unit 130, is thrown radially outward X1o of the rotation axis X1 by centrifugal force and is positioned at the post-movement position Pf5 of the post-movement holding unit 520, as shown in FIG. 9. Further thereafter, when the suction unit 132S faces the 7 o'clock direction and reaches the top of the trajectory ETr, it turns back and descends.

[0118] In the moving device 500, the locus ETr of the movement of the rotation axis X1 by the separating movement mechanism 550 is a linear reciprocating path in the up and down direction. However, the movement may be along another locus, for example, a linear reciprocating path extending from the lower left to the upper right.

[0119] In the above description, the present invention has been described in accordance with Embodiments 1 to 3 and Variations 1 and 2. However, it is needless to say that the present invention is not limited to the embodiments and the like, and can be appropriately modified and applied without departing from the gist thereof. For example, in Embodiment 1 and the like, an example was shown in which a large number of objects to be moved MV before movement were stacked in the thickness direction TH on the pre-movement holding portion 110 and the like. However, for example, like the state in which a large number of playing cards are spread on a table, each object to be moved MV may be held by the pre-movement holding portion in a state where a large number of objects to be moved are arranged such that another object to be moved partially overlaps under a certain object to be moved MV.

[0120] Also, in Embodiment 1 and the like, an example was shown in which a sensor Se1 and the like were further provided in the moving device 100, and using this sensor Se1 and the like, the objects to be moved MV were accumulated and discharged in a predetermined number to the plurality of post-movement holding portions 120A, 120B, etc. In addition, a sensor SS and the like may be further provided in the moving device 100, the foremost object to be moved MVF during movement may be inspected by the sensor SS, good products may be accumulated in the post-movement holding portion 120A, and defective products may be accumulated in the post-movement holding portion 120B, and the moving device 100 may be used as an inspection device (see FIG. 3).

Explanation of Reference Numerals

[0121] MV Object to be moved MVF Foremost object to be moved MVN Next object to be moved MVF1, MVN1 First surface (adsorbed surface) MVFs Adsorbed portion MVFu Rear portion MHF Front side MHB Rear side TH Thickness direction DH Separation direction 100, 2'00, 300, 400, 500 Moving device Pb1, Pb2, Pb3, Pb4, Pb5 Pre-movement positions Pf1A, Pf1B, Pf3A, Pf3B, Pf3C, Pf4, Pf5 Post-movement positions 110, 210, 310, 410, 510 Pre-movement holding portions 120A, 120B, 320A, 320B, 320C, 420, 520 Post-movement Retaining Part 130 Rotary Adsorption Part 132S Adsorption Part 132SC Adsorption Center Point Ps1, Ps2, Ps3, Ps4, Ps5 Adsorption Positions Pr1A, Pr1B, Pr3A, Pr3B, Pr3C, Pr4, Pr5 Release Positions H1 First Along-Surface Direction H2 Second Along-Surface Direction Vs1 Along-Surface Velocity of Adsorption Part Vp Peripheral Velocity (of Adsorption Part) CTr1, CTr2, CTr3 Trajectories (where the adsorption center point moved) 135 Retaining Shaft Body (Retaining Rotating Part) 138 Inner Contact Part (Inner Cylindrical Contact Part) 138S Cylindrical Surface rs Cylindrical Radius<OO00440>HH Horizontal Direction X1 Rotation Axis Line [[ID=’34]]X1o Radial Outer Side (of Rotation Axis Line) X1i Radial Inner Side (of Rotation Axis Line) OH Orthogonal Direction OBH Observation Direction rd, rd2, rd3 Distances (from Rotation Axis Line to Adsorption Center Point) C1 Rotation Direction C1u Upstream Side CW Clockwise Direction CCW Counterclockwise Direction 150 Planetary Gear Mechanism (Speed Reduction Movement Mechanism, Separation Movement Mechanism) 450 Speed Reduction Movement Mechanism [[ID=’56]]DTr, ETr Trajectories (where the rotation axis line moved) 550 Separation Movement Mechanism 151 Internal Gear Body<OO00456>[[ID=’62]]152 Internal Gear Part Xi Internal Gear Axis Line 152G Internal Teeth 154 Planetary Gear Body 155 Planetary Gear Part Xp Planetary Axis Line 155G External Teeth ri, rp Pitch Circle Radii It should be noted that in the above translation, for the tags like etc., they are likely specific identifiers in a technical context and are left unchanged as required. Also, the text has been translated as accurately as possible while maintaining the line breaks and the integrity of the original text structure. If there are any specific requirements or corrections regarding the translation, please feel free to let me know. 158 Planet carrier body Xc carrier axis Xco radially outer Xci radial inner 180,480 Suction control unit

Claims

1. A moving device that moves a flexible, sheet-like object to be moved that is arranged at a pre-movement position to a post-movement position, a pre-movement holding unit that holds a foremost object to be moved first among the objects to be moved at the pre-movement position; a post-movement holding unit that holds the object to be moved at the post-movement position after the object has been moved; an adsorption unit that adsorbs a front adsorbed portion of the foremost object to be moved that advances first during movement; and The holding and rotating part holds the suction part and is positioned outside the suction part and rotates in a rotational direction around a rotation axis extending in a horizontal direction. A rotating suction unit; an adsorption control unit that controls adsorption and adsorption release in the adsorption unit, The adsorption control unit When the rotary adsorption unit is viewed from an observation direction along the rotation axis, the direction in which the rotation direction is clockwise is In synchronization with the rotation of the rotary attraction part in the rotation direction, when the adsorption part rotating in the rotation direction reaches an adsorption position within an angular range of 4 to 9 o'clock indicated by the position of the hour hand of a clock around the rotation axis and in contact with or close to the adsorbed portion of the foremost object to be moved held at the pre-movement position, the adsorption part is made to adsorb the adsorbed portion, and movement of the foremost object to be moved in the rotation direction is started, When the adsorption unit that has adsorbed the adsorbed portion passes 12 o'clock at the hour hand position one or more times around the rotation axis and reaches a release position within an angular range of 1 to 8 o'clock, the adsorption of the adsorbed portion in the adsorption unit is released, the adsorbed portion is detached from the adsorption unit, the foremost object to be moved is thrown outward in the radial direction of the rotation axis by centrifugal force, and a rear portion of the foremost object to be moved that is behind the adsorbed portion falls while drawing a larger arc than the adsorbed portion, and is placed at the post-movement position. Mobile device.

2. 2. The mobile device of claim 1, A movement mechanism that translates the rotary attraction unit in a direction perpendicular to the rotation axis in synchronization with the rotation of the holding rotation unit, The rotational adsorption unit includes a deceleration movement mechanism that causes the rotational adsorption unit to move such that the speed of the adsorption unit when the adsorption unit reaches the adsorption position is slower than the peripheral speed of the adsorption unit due to the rotation of the holding rotation unit, in a first direction along the adsorbed surface of the foremost object, perpendicular to the rotation axis, and toward the front side. Mobile device.

3. 3. The mobile device according to claim 2, The deceleration movement mechanism includes: an internal gear body having an internal gear portion in which internal teeth are arranged in an annular shape; a planetary gear portion in which external teeth that mesh with the internal teeth are arranged in an annular shape, The external teeth are meshed with the internal teeth, and the internal gear portion revolves around the internal tooth axis and rotates around the planetary axis of the planetary gear portion, which is parallel to the internal tooth axis. one or more planetary gear bodies; a planetary carrier body that holds one or more of the planetary gear bodies rotatably around the planetary axis line and rotates around a carrier axis line that coincides with the internal gear axis line; a carrier drive unit that rotates and drives the planetary carrier body around the carrier axis; It is a planetary gear mechanism, the holding and rotating portions of the one or more rotation attraction portions are each provided coaxially and integrally with the planetary gear body, The internal gear portion and the planetary gear portion are the planetary gear body has a tooth number relationship in which the planetary gear body rotates an integer number of times equal to or greater than two while the planetary gear body revolves around the internal gear portion over one revolution, The suction position is the position on a locus through which a suction center point, which is the center of the suction portion, passes that is the farthest position radially outward from the carrier axis. Mobile device.

4. 4. The mobile device according to claim 3, The rotary adsorption unit is The distance from the rotation axis to the attraction center point is set equal to the pitch circle radius of the planetary gear portion. Mobile device.

5. The moving device according to any one of claims 1 to 4, The rotary adsorption unit is The nozzle is provided upstream of the adsorption portion in the direction of rotation, an inner abutment portion that abuts against the rear portion of the foremost object to be moved, which moves in the rotation direction, from the radially inner side of the rotation axis by the adsorption of the adsorbed portion by the adsorption portion, and separates the rear portion from the rotation axis; Mobile device.

6. The moving device according to any one of claims 2 to 4, The pre-movement holding unit is the foremost object to be moved held at the pre-movement position and a next object to be moved to be moved next to the foremost object to be moved are held in an overlapping manner at least partially; The rotary adsorption unit is The nozzle is provided upstream of the adsorption portion in the direction of rotation, a cylindrical surface having a cylindrical radius equal to the distance from the rotation axis to the suction center point at the center of the suction portion, The cylindrical surface abuts against the rear portion of the foremost object to be moved, which is moved by the adsorption of the adsorbed portion by the adsorption unit, from inside in the radial direction of the rotation axis, thereby moving the rear portion away from the rotation axis. It has a cylindrical inner abutment portion, The rotary adsorption unit and the deceleration movement mechanism are The adsorption unit that adsorbs the adsorbed portion of the foremost object to be moved is rotated around the rotation axis in the rotation direction, and While maintaining the distance between the rotation axis and the foremost object to be moved equal to the radius of the cylinder, the foremost object to be moved in a second creeping direction opposite to the first creeping direction along the foremost object to be moved that is held at the pre-movement position, The cylindrical surface of the cylindrical inner contact part rotating in the rotation direction is brought into contact with the rear portion of the foremost object to be moved without sliding, and the foremost object to be moved is moved from the pre-movement position without rubbing against the next object to be moved. Mobile device.

Images