Conveying device

Abstract

The present invention provides a conveying device that can transport objects in a stable state and that makes it easy to grip the objects being transported. [Solution] The conveying device 1 comprises a strip-shaped conveyor 2 having a slack portion 2A, a first endless rotating body 3 that is driven and travels, moving the strip-shaped conveyor 2 along the conveying direction DR, and a push-up mechanism 4 provided below the strip-shaped conveyor 2. The push-up mechanism 4 travels along the strip-shaped conveyor 2 over a certain push-up section E, contacts the slack portion 2A from below, and pushes up the object to be conveyed WK.

Description

Technical Field

[0001] The present invention relates to a conveying device.

Background Art

[0002] Patent Document 1 discloses a conveying belt made of a wire mesh that is pulled by an outer peripheral side chain and an inner peripheral side chain. This conveying belt is composed of a plurality of long support rods provided at predetermined intervals in the longitudinal direction of the conveying path, and a mesh wire mesh that is wound around the long support rods and sags downward between adjacent long support rods.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conveying belt described in Patent Document 1, a workpiece (in the present application, the object to be conveyed) is placed on the portion of the mesh wire mesh that sags downward, making it difficult for the workpiece to move on the conveying belt. As a result, the workpiece is conveyed by the conveying belt in a stable state. However, since the workpiece is placed on the portion that sags downward, the distance between the side portion of the workpiece and the mesh wire mesh becomes small. This makes it difficult to grip the side portion of the workpiece when taking out the workpiece from the conveying device.

[0005] An object of the present invention is to provide a conveying device in which the object to be conveyed is conveyed in a stable state and the object to be conveyed is easily gripped.

Means for Solving the Problems

[0006] A characteristic configuration of a conveying device for achieving the above objective is a conveying device that conveys an object to be conveyed along the conveying direction by placing the object to be conveyed on a slack portion that is loose at the bottom of a strip-shaped conveying body, comprising: a strip-shaped conveying body having the slack portion; a first endless rotating body that is driven to travel and move the strip-shaped conveying body along the conveying direction; and a push-up mechanism provided below the strip-shaped conveying body, wherein the push-up mechanism travels along the strip-shaped conveying body over a certain push-up section and contacts the slack portion from below to push up the object to be conveyed.

[0007] According to the above characteristic configuration, in the pushing section, the object to be conveyed is pushed up by the pushing mechanism. As a result, the depth of the slack area in the pushing section is smaller than in other sections, so the distance between the side of the object to be conveyed and the strip-shaped conveyor increases. Therefore, the object to be conveyed becomes easier to grip.

[0008] Another characteristic configuration of the conveying device according to the present invention is that the strip-shaped conveying body comprises a flexible strip-shaped conveying member and a plurality of support members attached to the conveying member at intervals in the conveying direction in a posture that extends along a transverse direction intersecting the conveying direction, wherein the slack portion is located between the support members on the conveying member.

[0009] According to the above-described configuration, the object to be transported is placed in the slack area between adjacent support members. This makes it difficult for the object to move over the support members and onto the transport members. Therefore, the object to be transported is transported in a stable state.

[0010] Another characteristic configuration of the conveying device according to the present invention is that the pushing mechanism comprises a contact member that contacts the slack portion from below, and a second endless rotating body that is driven to travel and moves the contact member along the conveying direction, wherein the second endless rotating body extends in an upward inclined manner along the conveying direction, and the dimensions of the contact member in the conveying direction are smaller than the distance between the support members.

[0011] According to the above characteristic configuration, the height of the contact member increases towards the downstream side due to the second endless rotating body that extends in an upward inclination. In addition, the dimensions of the contact member in the transport direction are smaller than the distance between the support members. As a result, the pushing mechanism makes it easier to push up the transport member without the contact member coming into contact with the support members.

[0012] Another characteristic feature of the conveying device according to the present invention is that the contact member has a recess on its upper surface.

[0013] According to the above characteristic configuration, the portion of the contact member that comes into contact with the object being transported becomes concave. As a result, when the object being transported comes into contact with the contact member, it is held in the concave portion. Therefore, the object being transported is less likely to roll when it is pushed up by the push-up mechanism.

[0014] Another characteristic feature of the conveying device according to the present invention is that the recess is a groove that extends along the width direction of the conveying member.

[0015] According to the above characteristic configuration, the object being transported, which is placed in the slack area, is more likely to come into contact with the recess that extends along the width direction. This makes it easier for the object being transported to be pushed upward.

[0016] Another characteristic feature of the conveying device according to the present invention is that the conveying member has a U-shaped cross-section in a plane perpendicular to the width direction of the conveying member.

[0017] According to the above-described configuration, the object to be transported is placed on the U-shaped portion of the transport member, making it difficult for the object to move on the transport member. Therefore, the object to be transported is transported in a stable state.

[0018] Another characteristic configuration of the conveying device according to the present invention is that, in the pushing-up section, the upper end of the contact member is located above the lower end of the support member.

[0019] According to the above characteristic configuration, the conveyed object is pushed up by the contact member located above the lower end of the support member. As a result, in the pushing-up section, the position of the conveyed object becomes higher than the lower end of the support member. Therefore, it becomes easier to grip the conveyed object.

[0020] Another characteristic configuration of the conveying device according to the present invention is provided in a lateral direction intersecting the conveying direction with respect to the belt-shaped conveyor, and includes a distance sensor for detecting the conveyed object. The distance sensor is at a point of detecting the position of the conveyed object in the width direction of the belt-shaped conveyor in the pushing-up section.

[0021] According to the above characteristic configuration, in the pushing-up section, with the conveyed object being pushed up by the pushing-up mechanism, the distance sensor detects the position of the conveyed object in the width direction of the belt-shaped conveyor. As a result, the distance sensor can easily detect the position of the conveyed object without an obstruction between the distance sensor and the conveyed object. Therefore, when gripping the conveyed object with a robot arm or the like, the accurate position of the conveyed object can be detected.

Brief Description of the Drawings

[0022] [Figure 1] It is a plan view showing the conveying device. [Figure 2] It is a side view longitudinal sectional view showing the upstream side portion of the conveying device. [Figure 3] It is a side view longitudinal sectional view showing the middle portion of the conveying device. [Figure 4] It is a side view longitudinal sectional view showing the downstream side portion of the conveying device. [Figure 5] It is a plan view showing the pushing-up mechanism. [Figure 6] It is a block diagram showing the power transmission from the motor.

Embodiments for Carrying out the Invention

[0023] The conveying device according to the present invention will be described below with reference to the drawings. In the drawings, arrow U is considered "up", arrow D is considered "down", arrow L is considered "left", and arrow R is considered "right". The center side in the width direction of the conveying device is considered "inside", and the outer side in the width direction of the conveying device is considered "outside". Figures 2, 3, and 4 are drawn to the same scale.

[0024] As shown in Figure 1, the conveying device 1 is a device that extends in a straight line and conveys the object to be conveyed WK along the conveying direction DR from the upstream side to the downstream side. The object to be conveyed WK is cylindrical. For example, the object to be conveyed WK is a metal part that has been press-formed by a press-forming machine. The object to be conveyed WK is conveyed by the conveying device 1 in a position along the lateral direction perpendicular to the conveying direction DR.

[0025] As shown in Figures 2, 3, and 4, the conveying device 1 conveys the object WK along the conveying direction DR by placing the object WK on the slack portion 2A that is lowered in the strip-shaped conveying body 2. As a result, the cylindrical object WK is less likely to roll and move on the strip-shaped conveying body 2 due to the slack portion 2A.

[0026] As shown in Figures 1, 2, 3, and 4, the conveying device 1 comprises a strip-shaped conveying body 2 extending along the conveying direction DR and having a slack portion 2A, a first endless rotating body 3 that moves the strip-shaped conveying body 2 along the conveying direction DR, a push-up mechanism 4 provided below the strip-shaped conveying body 2, a distance sensor 5 (see Figure 5) that detects the object to be conveyed WK, a control device 6 (see Figure 6), and a motor M (see Figure 6) that drives the first endless rotating body 3.

[0027] The push-up mechanism 4 travels along the strip-shaped conveyor 2. Furthermore, the push-up mechanism 4 is located below the strip-shaped conveyor 2. As shown in Figures 3 and 4, the push-up section E is a certain section of the strip-shaped conveyor 2. In the push-up section E, the push-up mechanism 4 contacts the slack portion 2A from below and pushes up the conveyed object WK. As a result, in the push-up section E, the area of ​​the conveyed object WK that overlaps with the first endless rotating body 3, when viewed from a lateral direction intersecting the conveying direction DR relative to the strip-shaped conveyor 2, becomes smaller. Therefore, the distance sensor 5 can more easily detect the conveyed object WK. Here, the lateral direction intersecting the conveying direction DR includes cases where the object is inclined in the forward, backward, up, or down directions relative to the direction perpendicular to the lateral direction of the conveying direction DR.

[0028] [Strip-shaped transporter] The outer portion of the strip-shaped conveyor 2 is moved by the first endless rotating body 3. As shown in Figures 1 and 2, the strip-shaped conveyor 2 comprises a flexible strip-shaped conveying member 21 and a plurality of rod-shaped support members 22 attached to the conveying member 21 at predetermined intervals G1 in a position extending along a lateral direction intersecting the conveying direction DR.

[0029] [Conveying components] As shown in Figures 1 and 2, the conveying member 21 is a mesh-like member. The conveying member 21 is made of metal wires woven together in a grid pattern. The conveying member 21 is endless. In a plan view, the conveying member 21 overlaps with the push-up mechanism 4. The outer end of the conveying member 21 is located further out than the outer end of the push-up mechanism 4.

[0030] As shown in Figures 1 and 2, the conveying member 21 is supported by a plurality of support members 22. The conveying member 21 is in a state of downward slack between the plurality of support members 22. In other words, the slack portion 2A is the portion of the conveying member 21 located between the plurality of support members 22. Furthermore, the conveying member 21 has a U-shaped cross-section in a plane perpendicular to the width direction of the conveying member 21.

[0031] [Support members] As shown in Figures 1 and 2, both outer ends of the support member 22 are attached to the first endless rotating body 3. Specifically, both outer ends of the support member 22 are attached by bolts 9 to plate-shaped protruding portions 31 that project inward from the first endless rotating body 3.

[0032] [First endless rotating body] As shown in Figures 1 and 4, the first endless rotating body 3 is an endless chain. The first endless rotating body 3 is driven by a first rotating body 7 that rotates around an axis A1 extending in a lateral direction perpendicular to the conveying direction DR. The first rotating body 7 is an axial member extending in a lateral direction perpendicular to the conveying direction DR. In this embodiment, two first rotating bodies 7 are provided at the upstream end of the strip-shaped conveyor 2 (see Figure 1) and at the downstream end of the strip-shaped conveyor 2 (see Figure 4). As shown in Figure 6, the first rotating body 7 is driven by power from a motor M.

[0033] The left and right first endless rotating bodies 3 move the strip-shaped conveyor 2. In this embodiment, the right first endless rotating body 3 moves the right end of the support member 22. The left first endless rotating body 3 moves the left end of the support member 22.

[0034] The first rotating body 7 has left and right sprockets. The right first endless rotating body 3 is wound around the right sprocket of the first rotating body 7. The left first endless rotating body 3 is wound around the left sprocket of the first rotating body 7.

[0035] [Push-up mechanism] As shown in Figures 1, 2, 3, and 4, the push-up mechanism 4 comprises a contact member 41 that contacts the slack portion 2A from below, and a second endless rotating body 42 that moves the contact member 41 along the conveying direction DR. In a side view, the push-up mechanism 4 is located between the forward path and the return path of the strip-shaped conveyor 2. Specifically, the upper end of the push-up mechanism 4 is located below the forward path of the strip-shaped conveyor 2. The lower end of the push-up mechanism 4 is located above the return path of the strip-shaped conveyor 2.

[0036] [Contacting component] As shown in Figures 1 and 3, the contact member 41 is a long member that extends across the left and right second endless rotating bodies 42. The outer ends of the contact member 41 are attached to the left and right second endless rotating bodies 42, respectively. Specifically, the outer ends of the contact member 41 are attached by bolts 9 to plate-shaped protruding portions 42a that project inward from the second endless rotating bodies 42.

[0037] As shown in Figure 3, the dimension G2 of the contact member 41 in the transport direction DR is smaller than the distance G1 between the support members 22. Furthermore, the push-up mechanism 4 travels along the transport direction DR with the central portion of the contact member 41 in the transport direction DR positioned at the central portion of the distance G1.

[0038] In Figure 3, a dashed line indicates a line L1 that extends along the strip-shaped conveyor 2, passing through the lower ends of each support member 22. As shown in Figure 3, in the pushing-up section E, the upper end of the contact member 41 is located above line L1. In other words, in the pushing-up section E, the upper end of the contact member 41 is located above the lower end of the support member 22.

[0039] In this embodiment, the contact member 41 has a recess 41a on its upper surface. The recess 41a is a groove that extends along the width direction of the conveying member 21.

[0040] [Second endless rotating body] As shown in Figures 1 and 3, the second endless rotating body 42 is an endless chain. The second endless rotating body 42 is driven by a second rotating body 8 that rotates around an axis A2 extending in a lateral direction perpendicular to the conveying direction DR. The second rotating body 8 is an axial member extending in a lateral direction perpendicular to the conveying direction DR. In this embodiment, two second rotating bodies 8 are provided at the upstream end of the push-up mechanism 4 and at the downstream end of the push-up mechanism 4, respectively. As shown in Figure 6, the second rotating body 8 is driven by power from a motor M.

[0041] The left and right second endless rotating bodies 42 move the contact member 41. In this embodiment, the right second endless rotating body 42 moves the right end of the contact member 41. The left second endless rotating body 42 moves the left end of the contact member 41.

[0042] The second rotating body 8 has left and right sprockets. The right second endless rotating body 42 is wound around the right sprocket of the second rotating body 8. The left second endless rotating body 42 is wound around the left sprocket of the second rotating body 8.

[0043] As shown in Figure 5, the distance sensor 5 is located on the outside of the strip-shaped conveyor 2 in the pushing section E. The distance sensor 5 is positioned on the outside of the strip-shaped conveyor 2 in a lateral direction intersecting the conveying direction DR. In the pushing section E, the distance sensor 5 detects the position of the conveyed object WK in the width direction of the strip-shaped conveyor 2. Specifically, the distance sensor 5 detects the distance D1 from the distance sensor 5 to the conveyed object WK based on the time it takes for the emitted infrared light to strike the conveyed object WK, reflect, and for the reflected infrared light to be received.

[0044] Based on the detected distance D1, the lateral position of the object to be transported WK is determined. The determined position of the object to be transported WK is used, for example, to retrieve the object to be transported WK from the transport device 1 using an arm robot. Based on the received distance D1 (or the position of the object to be transported WK), the arm robot grasps the object to be transported WK on the transport device 1 and retrieves the object to be transported WK from the transport device 1. Multiple arm robots may be arranged along the transport device 1. A control device is provided to centrally control multiple arm robots, and the distance D1 detected by the distance sensor 5 may be input to the control device.

[0045] The second endless rotating body 42 moves at the same speed as the first endless rotating body 3. As shown in Figure 6, the rotational speed of the first rotating body 7 and the rotational speed of the second rotating body 8 are controlled by the control device 6. The control device 6 has a storage unit and a CPU (Central Processing Unit) that executes programs. The storage unit is composed of, for example, an HDD, ROM, or non-volatile memory.

[0046] As shown in Figures 2 and 4, the sprocket of the downstream second rotating body 8 has a larger diameter than the sprocket of the upstream second rotating body 8. Also, the lower end of the sprocket of the downstream second rotating body 8 is at the same height as the lower end of the sprocket of the upstream second rotating body 8. As a result, the second endless rotating body 42 extends upward in an inclined manner along the transport direction DR in the forward path OR. In addition, the second endless rotating body 42 extends horizontally in the return path FR.

[0047] As shown in Figure 3, the starting point of the push-up section E is located downstream of the starting point P1 of the forward path OR of the second endless rotating body 42. Also, as shown in Figure 4, the downstream second rotating body 8 is located at the end of the push-up section E. At the end of the push-up section E, the contact member 41 rotates downward along the sprocket of the second rotating body 8. As a result, the contact member 41 travels away from the first endless rotating body 3 without contacting the support member 22.

[0048] The inclination angle of the second endless rotating body 42 in the forward path OR is, for example, about 1 to 10 degrees. As a result, the object to be conveyed WK is gently pushed up by the pushing mechanism 4. Therefore, the object to be conveyed WK is less likely to roll on the strip-shaped conveyor 2.

[0049] In Figure 2, the dashed line L3 is a virtual line extending vertically through the central part of the conveying direction DR in the slack portion 2A. Point P1 indicates the central part of the conveying direction DR in the contact member 41. In Figure 4, point P2 indicates the central part of the conveying direction DR in the contact member 41. Points P1 and P2 are located on line L3. The strip-shaped conveyor 2 and the push-up mechanism 4 (contact member 41) travel synchronously at the same speed. Therefore, the contact member 41 is always located directly below the central part of the slack portion 2A.

[0050] [Another embodiment] The present invention is not limited to the embodiments described above. For example, it may be configured as in the following alternative embodiments. In the alternative embodiments described below, components identical to those in the embodiments are denoted by the same numbers and reference numerals as in the embodiments described above.

[0051] [1] In the above-described embodiment, the conveying device 1 extends in a straight line. However, the conveying device 1 is not limited to this and may take other forms. For example, the conveying device 1 may be curved in an arc shape.

[0052] [2] In the above-described embodiment, the strip-shaped conveyor 2 is moved by the left and right first endless rotating bodies 3. However, the strip-shaped conveyor 2 may be moved by a single first endless rotating body 3. In this case, the first rotating body 7 has a single sprocket.

[0053] [3] In the above embodiment, the contact member 41 is moved by the left and right second endless rotating bodies 42. However, the contact member 41 may be moved by a single second endless rotating body 42. In this case, the second rotating body 8 has a sprocket.

[0054] [4] In the above-described embodiment, the object to be transported WK is cylindrical and is a metal part formed by pressure molding. However, it is not limited to this, and for example, the shape of the object to be transported WK may be cubic or the like. Also, the object to be transported WK may be in other forms, such as food or electronic components.

[0055] [5] The number of first rotating bodies 7 may be two or more. Also, one of the two first rotating bodies 7 may be driven by the rotation of the other first rotating body 7.

[0056] [6] In the above embodiment, the sprocket of the downstream second rotating body 8 has a larger diameter than the sprocket of the upstream second rotating body 8. However, the sprocket of the downstream second rotating body 8 may have a diameter similar to that of the sprocket of the upstream second rotating body 8. Also, there may be two or more second rotating bodies 8. For example, the second rotating body 8 may have one upstream sprocket and two downstream sprockets positioned vertically separated from each other. Furthermore, one of the two second rotating bodies 8 may move in conjunction with the rotation of the other first rotating body 7.

[0057] [7] In the above-described embodiment, the first endless rotating body 3 and the second endless rotating body 42 are chains. However, the embodiment is not limited to chains; at least one of the first endless rotating body 3 and the second endless rotating body 42 may be an endless belt or an endless wire.

[0058] [8] In the above embodiment, the conveying member 21 is a mesh-like member. The conveying member 21 is made of metal wires woven together in a grid pattern. However, the conveying member 21 is not limited to this and may take other forms. For example, the conveying member 21 may be a plurality of flat plate-like members, a mesh-like member, or a plurality of wires extending in a transverse direction perpendicular to the conveying direction DR.

[0059] [9] In the above-described embodiment, the transport member 21 is endless. However, the transport member 21 is not limited to this and may take other forms. For example, the transport member 21 may be divided into multiple parts. For example, the transport member 21 may consist of multiple mesh-like members wound around two adjacent support members 22, arranged at intervals in the transport direction DR.

[0060]

[10] In the above-described embodiment, the contact member 41 has a recess 41a on its upper surface. However, the contact member 41 may take other forms. For example, the contact member 41 may have a flat upper surface.

[0061]

[11] In the above-described embodiment, the push-up mechanism 4 comprises a second endless rotating body 42 and a contact member 41 moved by the second endless rotating body 42. However, the push-up mechanism 4 is not limited to this and may be in other forms. For example, the push-up mechanism 4 may comprise a contact member 41, left and right rail members extending upward in an inclined manner along the strip-shaped conveyor 2, and left and right rollers that drive on the left and right rails.

[0062] Furthermore, the second endless rotating body 42 extends horizontally, and the contact member 41 may be pushed upward by a hydraulic cylinder or the like in the pushing-up section E.

[0063]

[12] The configurations disclosed in the above-described embodiments (including other embodiments, the same applies hereinafter) can be applied in combination with configurations disclosed in other embodiments, insofar as they do not cause a contradiction, and the embodiments disclosed herein are illustrative, and the embodiments of the present invention are not limited thereto and can be modified as appropriate without departing from the object of the present invention. [Industrial applicability]

[0064] The present invention applies to a conveying device that conveys an object along the conveying direction by placing the object to be conveyed on a slack portion that is loose at the bottom of a strip-shaped conveying body. [Explanation of Symbols]

[0065] 1: Conveying device 2: Strip-shaped conveyor 21: Conveying component 22: Support member 2A: Sagging area 3: First endless rotating body 4: Push-up mechanism 41: Contact member 41a: recess 42: Second endless rotating body 5: Distance sensor D1: Distance DR: Conveying direction E: Push-up section G2: Dimensions WK: Object to be transported

Claims

1. A conveying device in which an object to be conveyed is placed on a slack portion that is lower on a strip-shaped conveying body, thereby conveying the object along the conveying direction, The strip-shaped conveyor having the aforementioned slack portion, A first endless rotating body that is driven and travels, moving the strip-shaped conveyor along the conveying direction, The strip-shaped conveyor is provided with a push-up mechanism located below it, The aforementioned pushing mechanism is a conveying device that travels along the strip-shaped conveyor over a certain pushing section and contacts the slack portion from below to push up the conveyed object.

2. The aforementioned strip-shaped conveyor, A flexible, strip-shaped conveying member, The system comprises a plurality of support members attached to the conveying member at intervals in the conveying direction, in a position that extends along a lateral direction intersecting the conveying direction, The conveying device according to claim 1, wherein the slack portion is located between the support members in the conveying member.

3. The aforementioned push-up mechanism is A contact member that contacts the sagging portion from below, It comprises a second endless rotating body that is driven and travels, and moves the contact member along the transport direction, The second endless rotating body extends in an upward inclined manner along the conveying direction, The conveying device according to claim 2, wherein the dimensions of the contact member in the conveying direction are smaller than the distance between the support members.

4. The conveying device according to claim 3, wherein the contact member has a recess on its upper surface.

5. The conveying device according to claim 4, wherein the recess is a groove extending along the width direction of the conveying member.

6. The conveying device according to claim 5, wherein the conveying member has a U-shaped cross-section in a plane perpendicular to the width direction of the conveying member.

7. The conveying device according to claim 3, wherein in the pushing-up section, the upper end of the contact member is positioned above the lower end of the support member.

8. A distance sensor is provided that is positioned laterally to the strip-shaped conveyor, intersecting the conveying direction, and for detecting the object to be conveyed. The conveying device according to claim 1, wherein the distance sensor detects the position of the object to be conveyed in the width direction of the strip-shaped conveyor in the pushing section.

Images