Conveying system

Abstract

The present invention provides a transport system that allows the transport unit supporting the transported object to be transferred from one transport device to another, while suppressing structural complexity. [Solution] The transport unit body 90 of the transport system 1 has a nut 91 that engages with the second screw shaft 21 or the third screw shaft 31, and an engagement mechanism that engages the nut 91 with the second screw shaft 21 or the third screw shaft 31. The switching device 60 has a locking / unlocking unit 60C that works in cooperation with the engagement mechanism to engage and unlock the nut 91 with the second screw shaft 21 or the third screw shaft 31, a first moving unit 60A that transports the transport unit body 90 in the axial direction D1 of the second screw shaft 21 or the third screw shaft 31, and a second moving unit 60B that moves the first moving unit 60A and the locking / unlocking unit 60C in an orthogonal direction D2 that is perpendicular to the axial direction D1 of the second screw shaft 21 or the third screw shaft 31.

Description

Technical Field

[0001] The present invention relates to a conveyance system.

Background Art

[0002] In the conveyance device described in Patent Document 1, a carriage is conveyed by a conveyance shaft to which a coil spring is wound around the shaft. By a convex portion of the carriage engaging with the coil spring deflecting the coil spring of the second conveyance shaft, the carriage can be transferred without aligning the phases of the screws between the first conveyance shaft and the second conveyance shaft.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conveyance device described in Patent Document 1, although it is not necessary to align the phases between the screw shafts, a special structure screw shaft around which a coil spring is wound is required. As a result, the structure of the conveyance device that conveys the carriage (main body of the conveyance unit) may become complicated.

[0005] The present invention has been made under the above circumstances, and an object thereof is to provide a conveyance system capable of transferring a main body of a conveyance unit that supports a conveyance object from a conveyance device to another device while suppressing complication of the structure.

Means for Solving the Problems

[0006] In order to achieve the above object, a conveyance system according to a first aspect of the present invention is a main body of a conveyance unit that supports a conveyance object, and A first conveying device having a first screw shaft that conveys the conveying unit body as it rotates, and a first guide that supports the conveying unit body so that it can be freely conveyed, A second conveying device having a second screw shaft that conveys the conveying unit body as it rotates, and a second guide that supports the conveying unit body so that it can be freely conveyed, The transport unit body is provided with a transfer device that moves it from the first transport device to the second transport device, The transport unit body includes a nut that engages with the first screw shaft or the second screw shaft, and an engagement mechanism that engages the nut with the first screw shaft or the second screw shaft. The conversion device includes an engagement / disengagement unit that works in cooperation with the engagement mechanism to engage and disengage the nut from the first screw shaft or the second screw shaft; a first moving unit that transports the transport unit body in the axial direction of the first screw shaft or the second screw shaft; and a second moving unit that moves the first moving unit and the engagement / disengagement unit in an orthogonal direction perpendicular to the axial direction of the first screw shaft or the second screw shaft.

[0007] A transport system according to a second aspect of the present invention is: A transport unit body that supports the object to be transported, A first conveying device having a first screw shaft that conveys the conveying unit body as it rotates, and a first guide that supports the conveying unit body so that it can be freely conveyed, A second conveying device having a second screw shaft that conveys the conveying unit body as it rotates, and a second guide that supports the conveying unit body so that it can be freely conveyed, The transport unit body is provided with a transfer device that moves it from the first transport device to the second transport device, The transport unit body has a nut that engages with the first screw shaft or the second screw shaft, The conversion device includes a first moving unit that transports the transport unit body in the axial direction of the first screw shaft or the second screw shaft, and a second moving unit that moves the first moving unit in an orthogonal direction perpendicular to the axial direction of the first screw shaft or the second screw shaft, and engages and disengages the nut from the first screw shaft or the second screw shaft.

[0008] The first moving unit may move the transport body to a position where the first screw shaft or the second screw shaft and the nut do not face each other.

[0009] The conversion device has a movable guide for the conversion device that is connected to the first guide or the second guide, and the connection between the first guide or the second guide and the movable guide for the conversion device may be released.

[0010] The nut may be a split nut formed in a half-split shape.

[0011] The first screw shaft and the second screw shaft may be installed parallel to the horizontal plane, and may also be installed parallel to each other.

[0012] The first screw shaft and the second screw shaft may be installed parallel to the vertical plane, and may also be installed parallel to each other.

[0013] The first moving unit is installed in a position that does not interfere with the first screw shaft or the second screw shaft. The first moving unit may have an extension arm at its tip from which the engagement / disengagement unit is installed, and may move the engagement / disengagement unit to a position facing the first screw shaft or the second screw shaft. [Effects of the Invention]

[0014] In the present invention, it is possible to provide a transport system that allows the transport unit body supporting the object to be transported to be transferred from a first transport device to a second transport device, which is another device, while suppressing structural complexity. [Brief explanation of the drawing]

[0015] [Figure 1] This is a perspective view of the transport system according to Embodiment 1 of the present invention. [Figure 2A] This is a side view of the transport system according to Embodiment 1. [Figure 2B]It is a side view schematically showing the conveyance system according to Embodiment 1. [Figure 3] It is an exploded perspective view (Part 1) of the conveyance system according to Embodiment 1. [Figure 4A] It is a perspective view of the conveyance unit main body according to Embodiment 1. [Figure 4B] It is an exploded perspective view (Part 1) of the conveyance unit main body according to Embodiment 1. [Figure 5] It is an exploded perspective view (Part 2) of the conveyance unit main body according to Embodiment 1. [Figure 6] It is a cross-sectional view showing the conveyance unit main body according to Embodiment 1 together with the relay device. [Figure 7] It is a perspective view (Part 1) of the slider of the conveyance unit main body according to Embodiment 1. [Figure 8A] It is a perspective view (Part 2) of the slider of the conveyance unit main body according to Embodiment 1. [Figure 8B] It is a perspective view (Part 1) of the holding release tool according to Embodiment 1. [Figure 8C] (A) is a perspective view (Part 2) for explaining the usage method of the holding release tool according to Embodiment 1. (B) is a cross-sectional view (Part 1) for explaining the usage method of the holding release tool according to Embodiment 1. [Figure 8D] (A) is a perspective view (Part 3) for explaining the usage method of the holding release tool according to Embodiment 1. (B) is a cross-sectional view (Part 2) for explaining the usage method of the holding release tool according to Embodiment 1. [Figure 9] It is an exploded perspective view (Part 2) of the conveyance system according to Embodiment 1. [Figure 10A] It is an exploded perspective view (Part 1) of the relay device according to Embodiment 1. [Figure 10B] It is an exploded perspective view (Part 2) of the relay device according to Embodiment 1. [Figure 11] It is an exploded perspective view (Part 3) of the relay device according to Embodiment 1. [Figure 12] It is a perspective view (Part 1) of the conversion device according to Embodiment 1. [Figure 13]This is a perspective view (part 2) of the conversion device according to Embodiment 1. [Figure 14] This is a cross-sectional view showing the transporter body according to Embodiment 1 together with the switching device. [Figure 15A] This is an exploded perspective view (part 1) of the second transfer device according to Embodiment 1. [Figure 15B] This is an exploded perspective view (part 2) of the second transfer device according to Embodiment 1. [Figure 16] This is an exploded perspective view (part 3) of the second transfer device according to Embodiment 1. [Figure 17] This is a cross-sectional view showing the transport unit body according to Embodiment 1 together with the second transfer device. [Figure 18] This is a perspective view (part 1) of the second conversion device according to Embodiment 1. [Figure 19] This is a perspective view (part 2) of the second conversion device according to Embodiment 1. [Figure 20] This is a perspective view of the fixing device and transport unit body according to Embodiment 1. [Figure 21] This is a cross-sectional view (part 1) of the transporter body for explaining the operation of the transporter system according to Embodiment 1. [Figure 22] This is a cross-sectional view (part 2) of the transporter body for explaining the operation of the transporter system according to Embodiment 1. [Figure 23] This is a cross-sectional view (part 3) of the transporter body for explaining the operation of the transporter system according to Embodiment 1. [Figure 24] This is a cross-sectional view (part 4) of the transporter body for explaining the operation of the transporter system according to Embodiment 1. [Figure 25] This is a perspective view illustrating the effects of the transport system according to Embodiment 1. [Figure 26] This is a perspective view of the transport system according to Embodiment 2 of the present invention. [Figure 27] This is a plan view of the transport system according to Embodiment 2. [Figure 28] This is a simplified plan view showing the transport system according to Embodiment 2. [Figure 29] This is an exploded perspective view of the transport system according to Embodiment 2. [Figure 30] This is a perspective view (part 1) of the conversion device according to Embodiment 2. [Figure 31] This is a perspective view (part 2) of the conversion device according to Embodiment 2. [Figure 32] This is an exploded perspective view (part 1) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 33] This is a plan view (part 1) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 34] This is an exploded perspective view (part 2) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 35] This is a plan view (part 2) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 36] This is a plan view (part 3) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 37A] This is a cross-sectional view (part 1) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 37B] This is a cross-sectional view (part 2) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 37C] This is a cross-sectional view (part 3) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 38] This is a plan view (part 4) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 39] This is a plan view (part 5) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 40] This is a plan view (part 6) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 41] This is a plan view (part 7) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 42] This is a plan view (part 8) of the transporter body for explaining the operation of the transporter system according to Embodiment 2. [Figure 43] (A) is a side view of the transport system and frame in a modified configuration before the frame is detached. (B) is a side view of the transport system and frame in a modified configuration after the frame has been detached. [Modes for carrying out the invention]

[0016] Embodiment 1. The transport system 1 according to Embodiment 1 of the present invention will be described below with reference to the figures. For the sake of ease of understanding, XYZ coordinates will be set and referred to as appropriate.

[0017] As shown in Figures 1 and 2A, the conveying system 1 is a device used to transport objects (workpieces) such as parts of industrial products, which are incorporated as part of a manufacturing line used in a factory, for example. As shown in Figures 2B and 3, the conveying system 1 comprises a first conveying device 10, a second conveying device 20, a third conveying device 30, a fourth conveying device 40, transfer devices 50 and 70, switching devices 60 and 80, a conveying unit body 90, and a fixing device F. In this embodiment 1, the conveying system 1 is installed on a two-tiered frame 150, consisting of an upper tier 151 and a lower tier 152. The first conveying device 10, the second conveying device 20, and the transfer device 50 are installed on the upper tier 151 of the frame 150. The third conveying device 30, the fourth conveying device 40, and the transfer device 70 are installed on the lower tier 152. A switching device 60 is installed on the -Y side end of the frame 150, extending from the upper section 151 to the lower section 152. A switching device 80 is installed on the +Y side end of the frame 150, extending from the upper section 151 to the lower section 152.

[0018] As shown in Figures 4A and 4B, the transport unit body 90 is a component on which the object to be transported is supported by a smooth mounting surface on its upper part. The transport unit body 90 includes a nut 91, an engagement mechanism 92, a slider 93, and an object to be transported mounting section 94.

[0019] The nut 91 is a component that engages with the first screw shaft 11 of the first conveying device 10 or the second screw shaft 21 of the second conveying device 20. The nut 91 is formed of, for example, an oil-impregnated material with good sliding properties. Specifically, the nut 91 is formed of, for example, a self-lubricating polyacetal (POM) material. However, it is not limited to this. The nut 91 may be formed of any material with good sliding properties, such as an oil-impregnated material. However, from the viewpoint of smooth rotation of the first screw shaft 11 and the second screw shaft 21 relative to the nut 91, it is preferable that the nut 91 is formed of, for example, a self-lubricating material. Furthermore, in this embodiment 1, the nut 91 is a split nut in which at least a part is formed in a split shape (an arc shape corresponding to the outer circumference of the first screw shaft 11 and the second screw shaft 21). However, it is not limited to this. The nut 91 may be a nut other than one formed in a split shape. As shown in Figure 5, the nut 91 is attached to the nut support member 91c by a panel 91a and a fastener 91b consisting of a screw or bolt, such that its female threaded surface is exposed in the -X direction. The nut support member 91c is fixed to the engagement mechanism 92 of the transport unit body 90 by a fastener 91d consisting of a screw or bolt. As a result, the nut 91 can be detachably attached to the engagement mechanism 92 of the transport unit body 90 by removing and attaching the fastener 91b.

[0020] As shown in Figures 5 and 6, the engagement mechanism 92 is a device for engaging the nut 91 with the first screw shaft 11 or the second screw shaft 21. This engagement mechanism 92 includes a housing 92a, a biasing means 92b, a movable member 92c, a fitted plate 92d, an engagement holding mechanism 92e, a support member 92f, a holding release contact member 92g, and a bearing 92h.

[0021] The housing 92a houses the movable member 92c. The housing 92a is fixed to the slider 93 from the +X side.

[0022] The biasing means 92b is used to press or bias the nut 91 against the first screw shaft 11 or the second screw shaft 21. In this embodiment 1, the biasing means 92b is a coil spring. However, it is not limited to this. The biasing means 92b may be something other than a coil spring, as long as it can press or bias the nut 91 against the first screw shaft 11 or the second screw shaft 21. Also, in this embodiment 1, the engagement mechanism 92 has two biasing means 92b. However, it is not limited to this. The engagement mechanism 92 may have only one biasing means 92b, or it may have three or more biasing means 92b.

[0023] The movable member 92c is a rod-shaped member with its longitudinal direction in the X-axis direction. A nut support member 91c is fixed to the X-side end of the movable member 92c by a fastener 91d consisting of a screw or bolt, and a panel 91a is fixed to the nut support member 91c by a fastener 91b, with a nut 91 being fixed by being sandwiched between the nut support member 91c and the panel 91a. This movable member 92c is arranged to be movable in the X-axis direction relative to the housing 92a. The movable member 92c is also positioned on the housing 92a via, for example, a bearing 92h. The bearing 92h is, for example, a rolling linear bearing or a sliding bearing made of a material with good sliding properties. In this embodiment 1, the engagement mechanism 92 has two movable members 92c, corresponding to the number of biasing means 92b.

[0024] The fitted plate 92d is fixed to the +X side end of the movable member 92c, and is formed to be movable together with the movable member 92c. A fitted groove 92d-1 is formed at the lower (-Z side) end of the fitted plate 92d. In this embodiment 1, the fitted groove 92d-1 is formed by penetrating in the X-axis direction and being notched. In addition, a locking portion 92d-2 is formed at the upper (+Z side) end of the fitted plate 92d.

[0025] The engagement holding mechanism 92e maintains the engagement between the nut 91 and the first screw shaft 11 by the biasing means 92b so that it is not released. Specifically, the engagement holding mechanism 92e is provided on the support member 92f so as to be rotatable around a rotation axis 92e-2 parallel to the Y-axis direction. The engagement holding mechanism 92e also extends to the +X side. A locking portion 92e-1 is provided at the +X end of the engagement holding mechanism 92e. The locking portion 92e-1 is shaped to be able to lock onto a locking portion 92d-2 of the fitted plate 92d. By locking this locking portion 92e-1 onto the locking portion 92d-2, the engagement holding mechanism 92e maintains the engagement between the nut 91 and the first screw shaft 11 by the biasing means 92b so that it is not released.

[0026] Furthermore, the engagement and holding mechanism 92e extends to the -Z side and is formed to be approximately T-shaped when viewed from the side (in the Y-axis direction). A release contact member 92g is provided at the -Z end of the engagement and holding mechanism 92e.

[0027] The support member 92f supports the engagement and holding mechanism 92e so that the locking portion 92e-1 of the engagement and holding mechanism 92e can rotate around the rotation axis 92e-2. This support member 92f is fixed to the housing 92a from the +Z side by fasteners 92f-1 consisting of screws and bolts.

[0028] The retaining release contact member 92g is provided at the -Z end of the engagement retaining mechanism 92e and has a rotatably supported ball bearing. When a part of the transfer device 50 (the inclined surface 50C-1 of the engagement member 50C described later (see Figure 6)) contacts this retaining release contact member 92g, the locking between the locking portion 92e-1 and the locked portion 92d-2 of the engagement retaining mechanism 92e is released. This makes it possible to release the engagement between the nut 91 and the first screw shaft 11 or the second screw shaft 21.

[0029] The slider 93 is a member that is supported so as to be movable in the Y-axis direction on the first guide 12 of the first conveying device 10 via rolling elements. The slider 93 also has a main body made of metal, a front return member fixed to the front end face of the main body on the -Y side with fasteners, and a rear return member fixed to the rear end face of the main body on the +Y side with fasteners. A rolling element circulation path is formed inside the pair of return members for the rolling elements to pass through. The main body of the slider 93 also has two holes that penetrate in the X-axis direction. The movable member 92c is inserted into these holes, and the engagement mechanism 92 is attached to the slider 93. Furthermore, as shown in Figures 7 and 8A, the slider 93 has a fall prevention member 93c to prevent the rolling elements from falling off. In addition, as shown in Figures 5 and 6, the slider 93 is fixed to the conveyed object placement section 94 with fasteners such as bolts and screws.

[0030] The object placement section 94 is a rectangular plate-shaped member with a placement surface 94a parallel to the XY plane formed on the +Z side. A groove-shaped fitting section 94b is formed at the -X end of this object placement section 94. In this embodiment 1, the fitting section 94b penetrates in the Z-axis direction and is formed by being notched.

[0031] As shown in Figure 8B, the transport unit body 90, which is configured as described above, is formed to be able to accommodate a retaining release tool 99 for releasing the retaining state of the engagement retaining mechanism 92e.

[0032] For example, the retaining release tool 99 has a retaining release tool body 99a, a push-in part 99b, and a rotating operation part 99c. The retaining release tool body 99a has a hooking part 99a-1 formed thereon that hooks onto the -X side surface of the fitted plate 92d. The push-in part 99b is, for example, a shaft and is inserted into a through hole formed in the retaining release tool body 99a. The rotating operation part 99c is attached to the base end of the push-in part 99b on its +X side, and the tip of the push-in part 99b is positioned to move back and forth in the X-axis direction relative to the retaining release tool body 99a by the rotating operation part 99c.

[0033] As shown in Figure 8C, when a user releases the retaining state of the engagement retaining mechanism 92e using the retaining release tool 99, first, the retaining release tool body 99a is attached to the engagement mechanism 92 with the hook portion 99a-1 hooked onto the -X side surface of the fitted plate 92d. At this time, the pressing portion 99d extending in the -X direction from the -Z side of the retaining release contact member 92g comes into contact with the -Z side of the retaining release contact member 92g, and the retaining release contact member 92g is lifted in the +Z direction. As a result, the retaining release contact member 92g rotates together with the engagement retaining mechanism 92e around the rotation axis 92e-2, and the engagement between the locking portion 92e-1 and the locking portion 92d-2 of the fitted plate 92d is released. Then, the user rotates the rotation operation part 99c parallel to the XY plane as shown by arrow Y1. As shown in Figure 8D, the user operates the rotary operating part 99c, causing the tip of the push-in part 99b to protrude in the -X direction relative to the retaining release device body 99a (see arrow Y2 shown in Figure 8D(A)). As a result, the +X side tip of the push-in part 99b comes into contact with the housing 92a of the engagement mechanism 92, and the fitted plate 92d moves away from the housing 92a in the direction away from it (+X direction) (see arrow Y3 shown in Figure 8D(A)). Consequently, the nut 91 disengages from the first screw shaft 11, and the engagement between the nut 91 and the first screw shaft 11 is released. Thus, the retaining state of the engagement retaining mechanism 92e is released, and the engagement between the nut 91 and the first screw shaft 11 is released.

[0034] As shown in Figure 3, the first conveying device 10 is a linear actuator that conveys the conveying unit body 90 in the fourth direction D4, which is in the same axial direction as the Y-axis direction. The first conveying device 10 includes a first screw shaft 11, a first guide 12, a motor 13, a folding unit 14, a holding part 15, and a support member 16.

[0035] The first screw shaft 11 is used to transport the transport unit body 90 as it rotates around the Y axis. A helical male screw groove is formed on the outer surface of the first screw shaft 11. The first screw shaft 11 engages with the nut 91 of the transport unit body 90. As a result, the first screw shaft 11 moves the nut 91 in the -Y direction or the +Y direction as it rotates around the Y axis. Consequently, the first screw shaft 11 transports the transport unit body 90 in the -Y direction or the +Y direction.

[0036] As shown in Figure 6, the first guide 12 is a member that supports the slider 93 via a plurality of rolling elements. Thus, the first guide 12 supports the transport unit body 90 having the slider 93 in a transportable manner. The first guide 12 is formed, for example, by extruding aluminum. The first guide 12 has a bottom plate and a pair of side walls formed upward (+Z direction) from both sides of the bottom plate. Recesses are provided on the inner surfaces of each side wall. A pair of rod-shaped rails, for example, made of steel, are attached to the recesses. The surface of one rail (-X side) and the surface of the other rail (+X side) are configured as surfaces on which the rolling elements roll.

[0037] As shown in Figure 3, the motor 13 includes, for example, an output shaft, rotor, stator, encoder, etc. Power is supplied to the motor 13 from a power source via an actuator cable. When power is supplied to the motor 13, the rotor of the motor 13 rotates. This rotational motion of the rotor is output to the output shaft.

[0038] The folding unit 14 is a component that connects the first screw shaft 11 and the output shaft of the motor 13. The folding unit 14 includes, for example, a timing belt, a holding part that rotatably holds the -Y end of the first screw shaft 11, and a folding unit cover that houses the timing belt and the holding part inside. The timing belt of the folding unit 14 transmits the rotation of the output shaft of the motor 13 to the first screw shaft 11. As a result, the first screw shaft 11 rotates in conjunction with the rotation of the output shaft of the motor 13.

[0039] The retaining portion 15 is positioned near the +Y end of the first screw shaft 11. Inside the retaining portion 15, for example, a bearing is housed. This bearing rotatably supports the -Y end of the first screw shaft 11. As a result, the retaining portion 15 rotatably holds the first screw shaft 11.

[0040] The support member 16 is installed in sliding contact with the first screw shaft 11 at locations other than the end of the first screw shaft 11. At least the portion of the support member 16 that slides against the first screw shaft 11 is made of a self-lubricating material to allow the first screw shaft 11 to rotate smoothly. The support member 16 is also shaped so as not to interfere with the engagement between the nut 91 and the first screw shaft 11. The support member 16 is installed to enable high-speed rotation of the first screw shaft 11 when the first screw shaft 11 is relatively long in the Y-axis direction. In this embodiment 1, multiple support members 16 are installed. However, the number of support members 16 installed is not limited to this. The number of support members 16 installed in the first conveying device 10 is appropriately changed according to the length of the first screw shaft 11 in the Y-axis direction. The installation position of the support member 16 is also appropriately changed according to the length of the first screw shaft 11 in the Y-axis direction.

[0041] The first transport device 10 is provided with an arrangement space S1 in which the movable guide 81 for the switching device, which has been moved from the fourth transport device 40, can be positioned while being connected to the first guide 12.

[0042] The second conveying device 20 has the same structure as the first conveying device 10 and is a linear actuator that conveys the conveying unit body 90 in the -Y direction or the +Y direction. The second conveying device 20 includes a second screw shaft 21, a second guide 22 to which a rail is attached, a motor 23, a folding unit 24, a holding part 25, and a support member 26. Each component of the second conveying device 20 is equivalent to each component of the first conveying device 10. As shown in Figure 9, the second conveying device 20 is positioned adjacent to the -Y side of the first conveying device 10 so that the conveying unit body 90 can transfer from the first guide 12 to the second guide 22.

[0043] The second screw shaft 21 is installed so as to be coaxial with the first screw shaft 11.

[0044] As shown in Figures 2B and 3, the second transport device 20 is provided with an arrangement space S2 in which the movable guide 61 for the transfer device, which is part of the transfer device 60 before it moves to the third transport device 30, can be positioned while being connected to the second guide 22.

[0045] The third conveying device 30 has the same structure as the first conveying device 10 and the second conveying device 20. The third conveying device 30 includes a third screw shaft 31, a third guide 32 to which a rail is attached, a motor 33, a folding unit 34, a holding part 35, and a support member 36. Each component of the third conveying device 30 is equivalent to each component of the first conveying device 10.

[0046] The third transport device 30 is provided with an arrangement space S3 in which the movable guide 61 for the switching device, which has been moved from the second transport device 20, can be positioned while being connected to the third guide 32.

[0047] The third screw shaft 31 and the second screw shaft 21 are installed parallel to the vertical plane (a plane parallel to the XZ plane) and are also installed parallel to each other. As a result, the third screw shaft 31 and the second screw shaft 21 are installed facing each other in the vertical direction (Z-axis direction).

[0048] The fourth conveying device 40 also has the same structure as the first conveying devices 10 to the third conveying devices 30. The fourth conveying device 40 includes a fourth screw shaft 41, a fourth guide 42 to which a pair of rails are attached, a motor 43, a folding unit 44, a holding part 45, and a support member 46. Each component of the fourth conveying device 40 is the same as each component of the first conveying device 10. The fourth conveying device 40 is positioned adjacent to the third conveying device 30 on the +Y side so that the conveying unit body 90 can transfer from the third guide 32 to the fourth guide 42.

[0049] The fourth screw shaft 41 and the first screw shaft 11 are installed parallel to the vertical plane (a plane parallel to the XZ plane) and are also installed parallel to each other. As a result, the fourth screw shaft 41 and the first screw shaft 11 are installed facing each other in the vertical direction (Z-axis direction). Furthermore, the fourth screw shaft 41 is installed coaxially with respect to the third screw shaft 31.

[0050] The fourth transport device 40 is provided with an arrangement space S4 in which the movable guide 81 for the transfer device, which is part of the transfer device 80 before it moves to the first transport device 10, can be arranged while being connected to the fourth guide 42.

[0051] As shown in Figure 3, the transfer device 50 is a device that transfers the transport unit body 90 from the first guide 12 to the second guide 22. As shown in Figures 10A, 10B, and 11, the transfer device 50 is composed of a combination of two linear actuators, a moving unit 50A and a locking / unlocking unit 50B.

[0052] The moving unit 50A is a linear actuator that reciprocates the slider table T11 in a first direction D1 (Y-axis direction). In addition to the slider table T11, the moving unit 50A includes, for example, a motor 51, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider to which the ball screw nut is attached, a housing 52 having rails, and a folding unit 53. The motor 51 has an output shaft, and the output shaft rotates when power is supplied to the motor 51. The folding unit 53 has a timing belt connecting the ball screw shaft and the output shaft of the motor 51. This timing belt transmits the rotational motion of the output shaft of the motor 51 to the ball screw shaft. The rotational motion of the ball screw shaft is converted into linear motion of the ball screw nut. The slider table T11 is fixed to the slider. Therefore, the moving unit 50A causes the slider table T11 to reciprocate in the -Y direction or +Y direction as the ball screw shaft rotates.

[0053] The engagement / disengagement unit 50B is fixed to the slider table T11 of the moving unit 50A via a plate-shaped connecting member 55, thereby being movable together with the slider table T11. This engagement / disengagement unit 50B is a linear actuator that causes the slider table T12 to reciprocate in the X-axis direction. The engagement / disengagement unit 50B works in cooperation with the engagement mechanism 92 of the transport unit body 90 to engage and disengage the nut 91 with the first screw shaft 11 or the second screw shaft 21. The engagement / disengagement unit 50B is also moved by the moving unit 50A together with the transport unit body 90. In addition to the slider table T12, this engagement / disengagement unit 50B includes, for example, a motor and a housing 57 having a ball screw (not shown) with a ball screw shaft and a ball screw nut. Power is supplied to this motor, causing the ball screw nut to rotate. The rotation of the ball screw nut is transmitted to the ball screw shaft and converted into linear motion of the ball screw shaft. The engagement / disengagement unit 50B causes the slider table T12, which is fixed to the tip of the ball screw shaft, to reciprocate in the -X direction or +X direction as the ball screw shaft moves forward and backward. The engagement / disengagement unit 50B is equipped with a brake unit 56 that can hold the slider table T12 in a predetermined position.

[0054] Furthermore, the engagement / disengagement unit 50B further includes an engaging member 50C.

[0055] The engaging member 50C is fixed to the slider table T12 of the engagement / disengagement unit 50B, and is therefore movable together with the slider table T12. As shown in Figures 10A and 10B, the engaging member 50C has a projection that fits into the fitting groove 92d-1 of the fitting plate 92d of the transport unit body 90. When the projection of the engaging member 50C fits into the fitting groove 92d-1, the engagement / disengagement unit 50B is moved in the Y-axis direction by the moving unit 50A together with the transport unit body 90.

[0056] Furthermore, as shown in Figure 6, the protruding portion of the engaging member 50C has an inclined surface 50C-1 that is inclined with respect to the XY plane. When the engaging member 50C moves in the +X direction, it comes into contact with the retaining release contact member 92g of the engaging mechanism 92. As a result, the retaining release contact member 92g rotates together with the engaging holding mechanism 92e around the rotation axis 92e-2. This releases the locking between the locking portion 92e-1 and the locked portion 92d-2 of the engaging holding mechanism 92e. After the locking between the locking portion 92e-1 and the locked portion 92d-2 of the engaging holding mechanism 92e is released, the protruding portion of the engaging member 50C is further moved in the +X direction to release the engagement between the nut 91 and the first screw shaft 11 or the second screw shaft 21.

[0057] As shown in Figures 3, 12, and 13, the switching device 60 is a device composed of a combination of multiple linear actuators and is equipped with a movable guide 61 for the switching device. This switching device 60 has a movable guide 61 for the switching device that is connected to the second guide 22, and also releases the connection between the second guide 22 and the movable guide 61 for the switching device. The switching device 60 also releases the engagement of the nut 91 with the second screw shaft 21. Then, together with the movable guide 61 for the switching device, the switching device 60 transports the transport unit body 90 in the -Z direction or the +Z direction. In addition to the movable guide 61 for the switching device, the switching device 60 also has a locking / unlocking unit 60C, a first moving unit 60A, and a second moving unit 60B.

[0058] The engagement / disengagement unit 60C is fixed to the slider table T1 of the first moving unit 60A via an extension arm 60A-6, thereby being movable together with the slider table T1. This engagement / disengagement unit 60C is a linear actuator that causes the slider table 60C-T to reciprocate in the third direction D3, which is the Y-axis direction. The engagement / disengagement unit 60C works in cooperation with the engagement mechanism 92 of the transport unit body 90 to engage and disengage the nut 91 with the second screw shaft 21 or the third screw shaft 31. This engagement / disengagement unit 60C has a structure in which, for example, a motor located in the housing 60C-3 rotates the ball screw nut, causing the ball screw shaft to move forward and backward. Power is supplied to this motor, causing the ball screw nut to rotate. The rotation of the ball screw nut causes the ball screw shaft to move forward and backward. The slider table 60C-T is fixed to the tip of the ball screw shaft and moves linearly together with the ball screw shaft. Therefore, the engagement / disengagement unit 60C causes the slider table 60C-T to reciprocate in the -X direction or +X direction as the ball screw shaft moves forward and backward. The engagement / disengagement unit 60C is equipped with a brake unit 60C-1 that can hold the slider table 60C-T in a predetermined position.

[0059] Furthermore, the engagement / disengagement unit 60C further includes an engaging member 60D.

[0060] The engaging member 60D is fixed to the slider table 60C-T of the engagement / disengagement unit 60C, and is therefore provided to be movable together with the slider table 60C-T.

[0061] As shown in Figure 14, the engaging member 60D has a protrusion that fits into the fitting groove 92d-1 of the fitting plate 92d of the transport unit body 90.

[0062] The protruding portion of the engaging member 60D has an inclined surface that is inclined with respect to the XY plane. By moving in the +X direction, the engaging member 60D comes into contact with the retaining release contact member 92g of the engaging mechanism 92. As a result, the retaining release contact member 92g rotates together with the engaging holding mechanism 92e around the rotation axis 92e-2. This releases the locking between the locking portion 92e-1 and the locked portion 92d-2 of the engaging holding mechanism 92e. After the locking between the locking portion 92e-1 and the locked portion 92d-2 of the engaging holding mechanism 92e is released, further movement of the protruding portion of the engaging member 60D in the +X direction releases the engagement between the nut 91 and the second screw shaft 21 or the third screw shaft 31.

[0063] The first moving unit 60A is a linear actuator that reciprocates the slider table T1 in a first direction D1 (axial direction, Y-axis direction), as shown in Figures 3, 12, and 13. The first direction D1 is the axial direction of the second screw shaft 21 and the third screw shaft 31, and is parallel to the Y-axis direction. The first moving unit 60A moves the transport unit body 90 to a position where the nut 91 does not face the second screw shaft 21 or the third screw shaft 31. The first moving unit 60A is installed in a position that does not interfere with the second screw shaft 21 or the third screw shaft 31, and moves the engagement / disengagement unit 60C to a position facing the second screw shaft 21 or the third screw shaft 31. In addition to the slider table T1, the first moving unit 60A includes, for example, a motor 60A-1, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider 60A-2 to which the ball screw nut is attached, a housing 60A-3 having a rail, a folding unit 60A-4, a cable unit 60A-5, and an extension arm 60A-6.

[0064] Motor 60A-1 includes components such as an output shaft, rotor, stator, and encoder. Power is supplied to motor 60A-1 from a power source via an actuator cable. When power is supplied to motor 60A-1, its rotor rotates. This rotational motion of the rotor is output to the output shaft, causing the output shaft to rotate.

[0065] Slider 60A-2 is supported on rails of housing 60A-3 via rolling elements so as to be movable in the Y-axis direction. A ball screw nut is also assembled to slider 60A-2. As a result, slider 60A-2 moves in the Y-axis direction in conjunction with the rotational motion of the ball screw shaft. Slider 60A-2 has a main body made of metal, a front return member fixed to the front end face of the main body on the -Y side with fasteners, etc., and a rear return member fixed to the rear end face of the main body on the +Y side with fasteners, etc. A rolling element circulation path is formed inside the pair of return members for the rolling elements to pass through. In this embodiment 1, two slider tables T1 are installed on slider 60A-2.

[0066] Housing 60A-3 protects the slider 60A-2 and the ball screw by housing them within it. Housing 60A-3 has bearings to rotatably support both ends of the ball screw shaft. Furthermore, housing 60A-3 has rails that movably support the slider 60A-2.

[0067] The folding unit 60A-4 has a belt (not shown) and a belt housing for the belt. The belt transmits the rotational motion of the output shaft of the motor 60A-1 to the ball screw shaft of the ball screw. As the output shaft of the motor 60A-1 rotates, the rotational motion of the output shaft is transmitted to the ball screw shaft via the belt. As the ball screw shaft rotates, the ball screw nut moves linearly together with the slider 60A-2. This folding unit 60A-4 is fixed to the housing 60A-3. The motor 60A-1 is also fixed to the folding unit 60A-4.

[0068] The cable unit 60A-5 comprises a cable and a cable guide that protects the cable. The cable of the cable unit 60A-5 is used, for example, to supply power to the locking / disengaging unit 60C. However, it is not limited to this. The cable of the cable unit 60A-5 may be used to supply power to something other than the locking / disengaging unit 60C. The cable guide of the cable unit 60A-5 is used to protect the folded portion of the cable and prevent the cable from twisting or bending to a radius smaller than a predetermined radius of curvature, thereby preventing cable breakage. The cable guide of the cable unit 60A-5 is made of, for example, a cable carrier (registered trademark). One end of the cable guide is fixed to the housing 60C-3 of the locking / disengaging unit 60C. By fixing one end of the cable guide to the housing 60C-3 of the locking / disengaging unit 60C, the one end of the cable guide moves in the Y-axis direction together with the locking / disengaging unit 60C.

[0069] The extension arm 60A-6 is a component that extends in the Y-axis direction. The base end of the extension arm 60A-6 on the -Y side is fixed to the slider table T1 by fasteners such as screws and bolts. A locking / detaching unit 60C is installed at the tip of the extension arm 60A-6 on the +Y side. The locking / detaching unit 60C is fixed to the extension arm 60A-6 by fasteners such as screws and bolts.

[0070] In the first moving unit 60A, power is supplied to the motor 60A-1, causing the output shaft to rotate. The rotational motion of the output shaft of the motor 60A-1 is transmitted to the ball screw shaft by the timing belt of the folding unit 60A-4. As a result, the rotational motion of the ball screw shaft is converted into the linear motion of the ball screw nut. Since the slider table T1 is fixed to the slider 60A-2, the first moving unit 60A causes the slider table T1 to reciprocate in the -Y direction or +Y direction as the ball screw shaft rotates. As a result, the engagement / disengagement unit 60C, which is fixed to the +Y end of the extension arm 60A-6, also reciprocates in the -Y direction or +Y direction.

[0071] The second moving unit 60B is a linear actuator that reciprocates the slider table T2 in a second direction D2 (orthogonal direction, Z-axis direction). The second direction D2 is orthogonal to the first direction D1, which is the axial direction of the second screw shaft 21 and the third screw shaft 31, and is parallel to the Z-axis direction. In addition to the slider table T2, the second moving unit 60B includes, for example, a motor 60B-1, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider 60B-2 to which the ball screw nut is attached, a housing 60B-3 having a rail, and a cable unit 60B-5.

[0072] Motor 60B-1 includes components such as an output shaft, rotor, stator, and encoder. Power is supplied to motor 60B-1 from a power source via an actuator cable. When power is supplied to motor 60B-1, its rotor rotates. This rotational motion of the rotor is output to the output shaft, causing the output shaft to rotate.

[0073] Slider 60B-2 is supported on rails of housing 60B-3 via rolling elements so as to be movable in the Z-axis direction. A ball screw nut is also assembled to slider 60B-2. As a result, slider 60B-2 moves in the Z-axis direction in conjunction with the rotational motion of the ball screw shaft. Slider 60B-2 has a main body made of metal, a front return member fixed to the front end face of the main body on the -Z side with fasteners, etc., and a rear return member fixed to the rear end face of the main body on the +Z side with fasteners, etc. A rolling element circulation path is formed inside the pair of return members for the rolling elements to pass through. In this embodiment 1, slider table T2 having a surface parallel to the XY plane is installed on slider 60B-2.

[0074] Housing 60B-3 protects the slider 60B-2 and the ball screw by housing them within it. Housing 60B-3 rotatably supports both ends of the ball screw shaft by having bearings. Furthermore, Housing 60B-3 has rails that movably support the slider 60B-2.

[0075] The cable unit 60B-5 comprises a cable and a cable guide to protect the cable. The cable of the cable unit 60B-5 is used, for example, to supply power to the motor 60A-1 of the first mobile unit 60A and the motor of the locking / disengaging unit 60C. However, it is not limited to this. The cable of the cable unit 60B-5 may also be used to supply power to something other than the motor 60A-1 and the motor of the locking / disengaging unit 60C. The cable guide of the cable unit 60B-5 is used to protect the folded portion of the cable and prevent the cable from twisting or bending to a radius smaller than a predetermined radius of curvature, thereby preventing cable breakage. The cable guide of the cable unit 60B-5 is made of, for example, a cable carrier (registered trademark). One end of the cable guide is fixed to the housing 60B-3 of the first mobile unit 60A via a slider table T2. By fixing one end of the cable guide to the housing 60B-3 of the first moving unit 60A, the one end of the cable guide moves in the Z-axis direction together with the first moving unit 60A and the engagement / disengagement unit 60C.

[0076] In the second moving unit 60B, power is supplied to the motor 60B-1, causing the output shaft to rotate. The rotational motion of the output shaft of the motor 60B-1 is transmitted to the ball screw shaft. The rotational motion of the ball screw shaft is converted into the linear motion of the ball screw nut. Since the slider table T2 is fixed to the slider 60B-2, the second moving unit 60B causes the slider table T2 to reciprocate in the -Z or +Z direction as the ball screw shaft rotates. As a result, the first moving unit 60A also reciprocates in the -Z or +Z direction. In addition, the engagement / disengagement unit 60C, which is fixed to the slider table T1 of the first moving unit 60A via the extension arm 60A-6, also reciprocates in the -Z or +Z direction.

[0077] As shown in Figures 12, 13, and 14, the movable guide 61 for the switching device is a member that supports the slider 93 of the transport unit body 90 via a plurality of rolling elements. The movable guide 61 for the switching device is formed, for example, by extruding aluminum. The movable guide 61 for the switching device has a bottom plate and a pair of side walls formed on both sides of the bottom plate upward (+Z direction). Recesses are provided on the inner surfaces of each side wall. A pair of rod-shaped rails made of steel, for example, are attached to the recesses. The surface of one rail (-X side surface) and the surface of the other rail (+X side surface) are configured as surfaces on which the rolling elements roll.

[0078] The movable guide 61 for the conversion device is provided to move toward or toward the second guide 22 by moving together with the engagement / disengagement unit 60C, the first moving unit 60A, and the slider table T2. Specifically, the movable guide 61 for the conversion device moves toward the second guide 22 in the +Y direction, thereby connecting with the second guide 22 so that the transport unit body 90 can transfer from the second guide 22. The movable guide 61 for the conversion device is then configured to release the connection between the second guide 22 and the movable guide 61 for the conversion device by moving toward the second guide 22 in the -Y direction. As a result, the conversion device 60 releases the connection between the second guide 22 and the movable guide 61 for the conversion device. Here, a positioning pin (not shown) may be installed on one side of the +Y side of the movable guide 61 for the conversion device and the -Y side of the second guide 22, and a positioning hole (not shown) that fits with the positioning pin may be installed on the other side. Furthermore, a positioning pin and a positioning hole that engages with the positioning pin may also be provided between the movable guide 61 for the conversion device and the third guide 32.

[0079] In the conversion device 60 configured as described above, the movable guide 61 for the conversion device is connected to the second guide 22 of the second conveying device 20, so that the slider 93 of the conveying unit body 90 can move from the second guide 22 to the movable guide 61 for the conversion device.

[0080] Furthermore, the conversion device 60, configured as described above, is formed to move the nut 91 in a direction that moves it closer to or further away from the second screw shaft 21, as shown in Figure 14. Specifically, the conversion device 60 disengages the nut 91 from the second screw shaft 21 by moving it in the +X direction, which moves it further away from the second screw shaft 21. Then, the conversion device 60 engages the nut 91 with the second screw shaft 21 by moving it in the -X direction, which moves it closer to the second screw shaft 21.

[0081] The transfer device 70 has the same structure as the transfer device 50 and, as shown in Figure 3, is a device that transfers the transport unit body 90 from the third transport device 30 to the fourth transport device 40. As shown in Figures 15A, 15B, and 16, the transfer device 70 is composed of a combination of two linear actuators, a moving unit 70A and a locking / unlocking unit 70B.

[0082] The moving unit 70A includes, for example, a slider table T15, a motor 71, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider to which the ball screw nut is attached, a housing 72 having rails, and a folding unit 73.

[0083] The engagement / disengagement unit 70B is fixed to the slider table T15 of the moving unit 70A via a plate-shaped connecting member 75, thereby being movable together with the slider table T15. The engagement / disengagement unit 70B includes, for example, a slider table T16, a motor, a housing 77 having a ball screw (not shown) with a ball screw shaft and a ball screw nut, and an engagement member 70C. The engagement / disengagement unit 70B also includes a brake unit 76 that can hold the slider table T16 in a predetermined position.

[0084] The engaging member 70C is fixed to the slider table T16 of the engagement / disengagement unit 70B, and is therefore movable together with the slider table T16. The engaging member 70C has a projection that fits into the fitting groove 92d-1 of the fitting plate 92d of the transport unit body 90. When the projection of the engaging member 70C fits into the fitting groove 92d-1, the engagement / disengagement unit 70B is moved in the Y-axis direction by the movement unit 70A together with the transport unit body 90.

[0085] Furthermore, as shown in Figure 17, the protruding portion of the engaging member 70C has an inclined surface 70C-1 that is inclined with respect to the XY plane.

[0086] The switching device 80 has the same structure as the switching device 60, and as shown in Figures 3, 18, and 19, the switching device 80 includes a movable guide 81 for the switching device, a locking / unlocking unit 80C, a first moving unit 80A, and a second moving unit 80B.

[0087] The engagement / disengagement unit 80C is fixed to the slider table T5 of the first moving unit 80A via an extension arm 80A-6, thereby being movable together with the slider table T5. This engagement / disengagement unit 80C is a linear actuator that causes the slider table 80C-T to reciprocate in the X-axis direction. The engagement / disengagement unit 80C includes, for example, a motor and a housing 80C-3 having a ball screw having a ball screw shaft and a ball screw nut. The engagement / disengagement unit 80C is also equipped with a brake unit 80C-1 that can hold the slider table 80C-T in a predetermined position.

[0088] The first mobile unit 80A includes, for example, a slider table T5, a motor 80A-1, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider 80A-2 to which the ball screw nut is attached, a housing 80A-3 having a rail, a folding unit 80A-4, a cable unit 80A-5, and an extension arm 80A-6.

[0089] The second mobile unit 80B includes, for example, a slider table T6, a motor 80B-1, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider 80B-2 to which the ball screw nut is attached, a housing 80B-3 having a rail, and a cable unit 80B-5.

[0090] In the switching device 80, the movable guide 81 for the switching device is connected to the fourth guide 42 of the fourth transport device 40, so that the slider 93 can move from the fourth guide 42 to the movable guide 81 for the switching device. Here, a positioning pin (not shown) may be installed on one side of the -Y side surface of the movable guide 81 for the switching device and the +Y side surface of the first guide 12, and a positioning hole (not shown) that fits with the positioning pin may be installed on the other side. Also, a positioning pin and a positioning hole that fits with the positioning pin may be installed between the movable guide 81 for the switching device and the fourth guide 42.

[0091] As shown in Figure 20, the fixing device F is used to fix the transport unit body 90 during transport. This fixing device F is an actuator that moves the fixing pin F-1 in the X-axis direction. The fixing device F also has a ball screw for fixing and is driven by a screw nut mechanism. In addition to the fixing pin F-1, the fixing device F includes a guide device, a movable body F-2 and a motor F-3, a ball screw for fixing (not shown) having a ball screw shaft and a ball screw nut, and a housing for fixing that accommodates the ball screw.

[0092] The fixing pin F-1 is fixed to the moving body F-2 such that its tip protrudes in the +X direction. The +X side tip of the fixing pin F-1 is shaped to fit into the fitting portion 94b formed on the object placement portion 94 of the transport unit body 90.

[0093] Motor F-3 rotates the ball screw nut, causing the ball screw shaft to move in the X-axis direction. As the ball screw shaft moves in the X-axis direction, the movable body F-2 and the fixing pin F-1 also move in the X-axis direction.

[0094] Motor F-3 includes components such as an output shaft, rotor, stator, and encoder. Power is supplied to motor F-3 from a power source via an actuator cable. When power is supplied to motor F-3, its rotor rotates. This rotational motion of the rotor is output to the output shaft, causing the output shaft to rotate.

[0095] The housing for the fixing device is used to house and protect the various components of the fixing device, such as the ball screw. Furthermore, the housing for the fixing device has bearings inside to rotatably support the ball screw nut.

[0096] The guide device is used to facilitate the movement of the fixing pin F-1 in the X-axis direction. The guide device includes, for example, a guide device slider and a base that supports the guide device slider so that it can move in the X-axis direction.

[0097] In this embodiment 1, the fixing device F is driven by a screw-nut mechanism, having a ball screw for fixing. However, it is not limited to this. The fixing device F may be something other than one driven by a screw-nut mechanism. For example, the fixing device F may be a solenoid structure that moves the fixing pin F-1 in the X-axis direction when it is de-energized or energized.

[0098] As shown in Figure 1, casters are attached to the frame 150. This allows the frame 150 to support the transport system 1 in a movable manner relative to the floor.

[0099] The operation of the transport unit body 90 and the transport object in the transport system 1 configured as described above will be explained with reference to the diagram.

[0100] First, in the first conveying device 10, power is supplied to the motor body of the motor 13, causing the output shaft of the motor 13 to rotate, as shown in Figures 2B and 3. As the output shaft of the motor 13 rotates, the first screw shaft 11 also rotates. When the first screw shaft 11 rotates, as shown in Figure 21, the nut 91 is engaged with the first screw shaft 11, so the engagement mechanism 92 and the slider 93 move, for example, in the -Y direction. As a result, the conveying unit body 90 moves linearly in the -Y direction. At this time, since the slider 93 is supported on the first guide 12 via rolling elements, the rolling elements roll, causing the slider 93 to move smoothly on the first guide 12 and move the conveying unit body 90 smoothly. Furthermore, since the nut 91 is pressed against the first screw shaft 11 by the biasing force of the biasing means 92b, the engagement force of the nut 91 with respect to the first screw shaft 11 is improved. This improves the efficiency with which the biasing means 92b transmits the rotational motion of the first screw shaft 11 to the nut 91. Furthermore, by locking the locking portion 92e-1 of the engagement holding mechanism 92e to the locked portion 92d-2, the engagement holding mechanism 92e maintains the engagement state between the nut 91 and the first screw shaft 11 by the biasing means 92b. This further improves the efficiency with which the engagement holding mechanism 92e transmits the rotational motion of the first screw shaft 11 to the nut 91.

[0101] As the transport unit body 90 moves linearly in the -Y direction, as shown in Figures 2B and 3, the transport unit body 90 eventually moves to the vicinity of the folding unit 14 that supports the -Y side of the first screw shaft 11.

[0102] Then, as shown in Figures 10A and 10B, the engagement / disengagement unit 50B of the transfer device 50 moves the slider table T12 in the +X direction. Since the engaging member 50C is fixed to the slider table T12, the engaging member 50C also moves in the +X direction, and as a result, the protruding portion of the engaging member 50C fits into the fitting groove 92d-1 of the fitting plate 92d of the transport unit body 90.

[0103] Furthermore, as the engaging member 50C moves in the +X direction, as shown in Figure 22, the protruding portion of the engaging member 50C is fitted into the fitting groove 92d-1, causing the moving member 92c to also move in the +X direction against the biasing force of the biasing means 92b. Also, as the engaging member 50C moves in the +X direction, it comes into contact with the retaining release contact member 92g of the engaging mechanism 92. As a result, the retaining release contact member 92g rotates together with the locking portion 92e-1 around the rotation axis 92e-2. This releases the locking between the locking portion 92e-1 and the locked portion 92d-2 of the engaging holding mechanism 92e. After the locking of the locking portion 92e-1 and the locked portion 92d-2 of the engagement holding mechanism 92e is released, if the protruding portion of the engagement member 50C is further moved in the +X direction, the nut 91 is fixed to the -X side end of the moving member 92c, so as the moving member 92c moves in the +X direction, the nut 91 also moves in the +X direction. As a result, the engagement / disengagement unit 50B of the transfer device 50 releases the engagement of the nut 91 with the first screw shaft 11. Consequently, the engagement / disengagement unit 50B releases the locking of the locking portion 92e-1 and the locked portion 92d-2 of the engagement holding mechanism 92e, and also detaches the nut 91 from the first screw shaft 11.

[0104] Next, as shown in Figures 10A and 10B, the transfer unit 50A of the transfer device 50 moves the slider table T11 in the -Y direction. Since the engagement / disengagement unit 50B is fixed to the slider table T11, the engagement / disengagement unit 50B also moves in the -Y direction along with it.

[0105] As a result, the protruding portion of the engaging member 50C is fitted into a part of the fitted plate 92d of the transport unit body 90, causing the transport unit body 90 to move in the -Y direction. Consequently, the nut 91 moves from the position where it can be engaged with the first screw shaft 11 to the position where it can be engaged with the second screw shaft 21, as shown in Figures 2B and 3.

[0106] Next, as shown in Figures 10A and 10B, the engagement / disengagement unit 50B of the transfer device 50 moves the slider table T12 in the -X direction, which is opposite to the +X direction. As a result, the protruding portion of the engaging member 50C disengages from the fitting groove 92d-1 of the fitting plate 92d of the transport unit body 90. Then, the moving member 92c of the engagement mechanism 92 moves in the -X direction according to the biasing force of the biasing means 92b. Since a nut 91 is fixed to the -X side end of the moving member 92c, the nut 91 also moves in the -X direction as the moving member 92c moves in the -X direction. As a result, as shown in Figure 21, the engagement / disengagement unit 50B of the transfer device 50 engages the nut 91 with the second screw shaft 21. Furthermore, the locking portion 92e-1 of the engagement holding mechanism 92e engages with the locked portion 92d-2, thereby maintaining the engagement state between the nut 91 and the second screw shaft 21 by the biasing means 92b. As a result, the engagement / disengagement unit 50B completes the engagement of the nut 91 with respect to the second screw shaft 21.

[0107] Next, as shown in Figures 2B and 6, the second screw shaft 21 rotates in the second conveying device 20. As the second screw shaft 21 rotates, the nut 91 is engaged with the second screw shaft 21, so the engagement mechanism 92 and the slider 93 move, for example, in the -Y axis direction. As a result, the conveying unit body 90 moves linearly in the -Y direction. At this time, since the slider 93 is supported by the second guide 22 via rolling elements, the rolling elements roll, causing the slider 93 to move smoothly on the second guide 22 and move the conveying unit body 90 smoothly. Furthermore, since the nut 91 is pressed against the second screw shaft 21 by the biasing force of the biasing means 92b, the engagement force of the nut 91 with respect to the second screw shaft 21 is improved. This increases the efficiency with which the biasing means 92b transmits the rotational motion of the second screw shaft 21 to the nut 91. Furthermore, as shown in Figure 21, the locking portion 92e-1 of the engagement holding mechanism 92e engages with the locked portion 92d-2, thereby maintaining the engagement state between the nut 91 and the second screw shaft 21 by the biasing means 92b. This further enhances the efficiency with which the engagement holding mechanism 92e transmits the rotational motion of the second screw shaft 21 to the nut 91.

[0108] As the transport unit body 90 moves linearly in the -Y direction, as shown in Figure 20, the transport unit body 90 eventually moves to a position where it can be fixed by the fixing device F.

[0109] Then, in the fixing device F, power is supplied to the motor body of motor F-3, causing the output shaft of motor F-3 to rotate. As the output shaft of motor F-3 rotates, the ball screw shaft also rotates, and the fixing pin F-1 moves. As a result, the fixing pin F-1 fits into the fitting portion 94b of the object placement portion 94 of the transport unit body 90. In this way, the fixing device F fixes the transport unit body 90. With the transport unit body 90 fixed by the fixing device F, the user or a device other than the transport system 1 performs work on the object to be transported (workpiece) placed on the transport unit body 90.

[0110] When the user finishes their work, the output shaft of motor F-3 rotates in the opposite direction (reverse rotation), causing the fixing pin F-1 to move. As a result, the fixing pin F-1 disengages from the fitted portion 94b of the object placement portion 94 of the transport unit body 90, thereby releasing the fixing of the transport unit body 90 by the fixing device F.

[0111] Again, in the second conveying device 20, as shown in Figures 2B and 3, the output shaft of the motor 23 and the second screw shaft 21 rotate. The conveying unit body 90 moves linearly in the -Y direction as the slider 93 moves smoothly along the second guide 22. Eventually, the slider 93 of the conveying unit body 90 moves from the second guide 22 to the movable guide 61 for the switching device of the switching device 60. At this time, as shown in Figure 23, the locking portion 92e-1 of the engagement holding mechanism 92e locks with the locked portion 92d-2, thereby maintaining the engagement state between the nut 91 and the second screw shaft 21 by the biasing means 92b.

[0112] Next, as shown in Figure 24, the switching device 60 moves the slider table 60C-T in the +X direction. The nut 91 also moves in the +X direction, thereby disengaging the nut 91 from the second screw shaft 21.

[0113] Next, the first moving unit 60A of the switching device 60 moves the slider table T1 and slider 60A-2 in the -Y direction, as shown in Figures 12 and 13. The movable guide 61 for the switching device also moves in the -Y direction, separating from the second guide 22.

[0114] Next, the second moving unit 60B of the switching device 60 moves the slider table T2 and slider 60B-2 in the -Z direction. Then, the movable guide 61 for the switching device moves in the -Z direction together with the transport unit body 90.

[0115] Eventually, the transport unit body 90 moves toward the lower level of the frame together with the movable guide 61 for the switching device of the switching device 60.

[0116] Next, the switching device 60 moves the slider table T1 and the slider 60A-2 in the +Y direction. The movable guide 61 for the switching device also moves in the +Y direction and approaches the third guide 32.

[0117] Next, the switching device 60 moves the slider table 60C-T in the -X direction. As a result, the nut 91 also moves in the -X direction, and the nut 91 engages with the third screw shaft 31 of the third conveying device 30.

[0118] Furthermore, as the third screw shaft 31 of the third conveying device 30 rotates, the nut 91 is engaged with the third screw shaft 31, so the conveying unit body 90 moves, for example, by transferring from the movable guide 61 for the switching device to the third guide 32 of the third conveying device 30, as shown in Figures 2B and 3. The conveying unit body 90 then moves smoothly along the third guide 32 and is conveyed in the +Y direction.

[0119] As the transport unit body 90 is transported in the +Y direction by the third transport device 30, the transport unit body 90 eventually moves to the vicinity of the holding portion 35 that supports the +Y side of the third screw shaft 31. Due to the action of the transfer device 70, the transport unit body 90 transfers from the third transport device 30 to the fourth transport device 40.

[0120] Eventually, the transport unit body 90 moves from the fourth guide 42 to the movable guide 81 for the switching device of the switching device 80.

[0121] Furthermore, as shown in Figures 18 and 19, the conversion device 80 moves the movable guide 81 for the conversion device together with the transport unit body 90 from the fourth guide 42 to the first guide 12. The transport unit body 90 returns to the first guide 12.

[0122] With the above steps, the transport of the transport unit body 90 in the transport system 1 is completed.

[0123] In the operation of transporting the transport unit body 90 and the object to be transported in the transport system 1, the first transport device 10 and the second transport device 20 transport the transport unit body 90 in the -Y direction. The conversion device 60 transports the transport unit body 90 in the -Z direction. The third transport device 30 and the fourth transport device 40 transport the transport unit body 90 in the +Y direction. The conversion device 80 transports the transport unit body 90 in the +Z direction. However, it is not limited to this. The user of the transport system 1 may cause the transport unit body 90 to reciprocate by rotating the screw shafts 11, 21, 31, and 41 of each transport device 10, 20, 30, and 40, and the ball screw shafts of the conversion devices 60 and 80 in the forward and reverse directions, or may cause the transport unit body 90 to move in various directions depending on the application of the transport system 1. Furthermore, the number of transport unit bodies 90 transported by the screw shafts of the first transport device 10, the second transport device 20, the third transport device 30, and the fourth transport device 40, as well as the spacing between the transport unit bodies 90, can be appropriately changed according to the arrangement of the work machine relative to the object to be transported (workpiece) placed on the transport unit body 90.

[0124] Furthermore, as shown in Figure 25, the first guide 12, second guide 22, third guide 32, fourth guide 42, and movable guide 61 for the conversion device, which are configured as described above, have guide grooves 12a, 22a, 32a, 42a, and 61a formed therein, which allow the rolling elements to roll in the transport direction (Y-axis direction) in which the transport unit body 90 is transported.

[0125] Furthermore, at the connection point between the second guide 22 and the movable guide 61 for the switching device, a tapered groove portion T is formed in the guide groove 61a of the movable guide 61 for the switching device, opening outward with respect to the conveying direction of the rolling elements. In this embodiment 1, the tapered groove portion T is formed in the guide groove 61a of the movable guide 61 for the switching device. However, it is not limited to this. The tapered groove portion T may also be formed in the guide groove 22a of the second guide 22 at the connection point between the second guide 22 and the movable guide 61 for the switching device. Alternatively, the tapered groove portion T may be formed in both the second guide 22 and the movable guide 61 for the switching device at the connection point between the two. Furthermore, the portion in which the tapered groove portion T is formed may be formed as a separate part and attached to either the second guide 22 or the movable guide 61 for the switching device, or both.

[0126] Furthermore, at the connection point between the movable guide 61 for the switching device and the third guide 32, a tapered groove portion T is formed in the guide groove 32a of the third guide 32, which is open outward with respect to the conveying direction of the rolling elements. In this embodiment 1, the tapered groove portion T is formed in the guide groove 32a of the third guide 32. However, it is not limited to this. The tapered groove portion T may also be formed in the guide groove 61a of the movable guide 61 for the switching device at the connection point between the movable guide 61 for the switching device and the third guide 32. Alternatively, the tapered groove portion T may be formed in both the movable guide 61 for the switching device and the third guide 32 at the connection point between the two. Furthermore, the portion in which the tapered groove portion T is formed may be formed as a separate part and attached to either one or both of the movable guide 61 for the switching device and the third guide 32.

[0127] In the transport system 1, the tapered groove portion T is formed, which allows for smooth transfer of the transport unit body 90 at the connection point between the second guide 22 and the movable guide 61 for the switching device, and at the connection point between the movable guide 61 for the switching device and the third guide 32.

[0128] The tapered groove portion T may be applied to the connection between the first guide 12 and the second guide 22, and to the connection between the third guide 32 and the fourth guide 42. Furthermore, as shown in Figure 3, the tapered groove portion T may be applied to the connection between the fourth guide 42 and the movable guide 81 for the switching device, and to the connection between the movable guide 81 for the switching device and the first guide 12.

[0129] As described above, the transport system 1 according to this embodiment 1 has an engagement holding mechanism 92e that maintains the engagement state between the nut 91 and the first screw shaft 11 by the biasing means 92b so as not to be released, as shown in Figure 6. Therefore, the transport system 1 can improve the efficiency of transmitting the rotational motion of the first screw shaft 11 to the nut 91.

[0130] Furthermore, the transport system 1 according to this embodiment 1 includes a disengagement unit 50B that releases the hold of the engagement holding mechanism 92e, which holds the nut 91 and the first screw shaft 11 in an engaged state that cannot be released. Therefore, the transport system 1 can release the hold of the nut 91 and the first screw shaft 11 or the second screw shaft 21, which has been made impossible to disengage by the engagement holding mechanism 92e, and can also release the engagement between the nut 91 and the first screw shaft 11 or the second screw shaft 21.

[0131] Furthermore, as shown in Figure 8B, the transport unit body 90 is formed to accommodate a retaining release tool 99 for releasing the retained state of the engagement retaining mechanism 92e. By operating the retaining release tool 99, the user can manually release the retained state of the engagement retaining mechanism 92e.

[0132] Furthermore, in the transport system 1 according to this embodiment 1, as shown in Figure 3, the transfer device 60 has a locking / unlocking unit 60C, a first moving unit 60A, and a second moving unit 60B. Therefore, in the transport system 1 according to this embodiment 1, the transport unit body 90 that supports the transported object can be transferred from the second transport device 20 to a third transport device 30, which is another device, while suppressing structural complexity.

[0133] Furthermore, in the transport system 1 according to this embodiment 1, the transfer device 80 includes a locking / unlocking unit 80C, a first moving unit 80A, and a second moving unit 80B. Therefore, in the transport system 1 according to this embodiment 1, the transport unit body 90 that supports the transported object can be transferred from the fourth transport device 40 to the first transport device 10, which is a separate device, while suppressing structural complexity.

[0134] Furthermore, in the conveying system 1 according to this embodiment 1, as shown in Figure 3, the first conveying device 10 has a general first screw shaft 11. Therefore, in the conveying system 1, a screw shaft with a special structure, such as one around which a coil spring is wound, can be eliminated. As a result, in the conveying system 1 according to this embodiment 1, the conveying unit body 90 that supports the object to be conveyed can be transferred from the first conveying device 10 to another device, the second conveying device 20, while suppressing structural complexity.

[0135] Furthermore, in the conveying system 1 according to this embodiment 1, the second conveying device 20 has a general second screw shaft 21, similar to the first conveying device 10. Therefore, in the conveying system 1, a screw shaft with a special structure, such as one around which a coil spring is wound, can be eliminated. As a result, in the conveying system 1 according to this embodiment 1, the conveying unit body 90 that supports the object to be conveyed can be transferred from the second conveying device 20 to a separate device, the transfer device 60, while suppressing structural complexity.

[0136] Furthermore, in this embodiment 1, even when the first screw shaft 11 and the second screw shaft 21 are aligned coaxially, the transport unit body 90 can be moved in the axial direction (Y-axis direction) without changing the positional relationship between the transport unit body 90 and the feed screw shaft, simply by disengaging the nut 91 from the first screw shaft 11 and the second screw shaft 21.

[0137] Furthermore, in the conveying system 1 according to this embodiment 1, the conveying devices 10, 20, 30, 40 and the switching devices 60, 80, etc., are combined to form the system. Therefore, by selecting the length of each screw shaft 11, 21, 31, 41 and the stroke of the switching devices 60, 80, the user can arbitrarily select the size of the conveying system 1. Thus, a highly versatile conveying system 1 can be provided that is compatible with the method of use of the conveying system 1.

[0138] Furthermore, in this embodiment 1, the nut 91 is a split nut. Therefore, the transport unit body 90 can be transferred from the first screw shaft 11 to the second screw shaft 21 with a simple configuration.

[0139] Furthermore, in this embodiment 1, the nut 91 is pressed against the first screw shaft 11 or the second screw shaft 21 by the biasing means 92b, as shown in Figures 6 and 14. This eliminates backlash between the nut 91 and the first screw shaft 11 or the second screw shaft 21. Moreover, the nut 91 and the first screw shaft 11 or the second screw shaft 21 can smoothly transition from a disengaged state to an engaged state without having to match the phase of the threads of the nut 91 with the phase of the threads of the first screw shaft 11 or the second screw shaft 21.

[0140] Furthermore, in this embodiment 1, the nut 91 is detachably attached to the transport unit body 90. Therefore, the user can easily replace the nut 91, and the efficiency of maintenance work on the transport unit body 90 can be improved.

[0141] Furthermore, in this embodiment 1, the nut 91 is made of a self-lubricating material. If an oil-impregnated material is used instead of this self-lubricating material, the user can omit the task of lubricating the transport unit body 90, thereby improving the efficiency of maintenance work on the transport unit body 90.

[0142] Furthermore, in this embodiment 1, the nut 91 is a nut formed in a split shape, as shown in Figures 4B and 5. In contrast, if, for example, the nut 91 is a nut with an annular shape that is not formed in a split shape, then when support members 16 and 26 are installed in the conveying system 1, the support members 16 and 26 will interfere with the engagement between the nut 91 and the first screw shaft 11 or the second screw shaft 21, making it difficult to install support members 16 and 26 that do not interfere with this engagement.

[0143] However, in this embodiment 1, the nut 91 is a nut formed in a half-split shape. Therefore, support members 16 and 26 formed in a shape that does not interfere with the engagement of the nut 91 with the first screw shaft 11 or the second screw shaft 21 can be installed in the conveying system 1. As a result, support members 16 and 26 that slide against the first screw shaft 11 or the second screw shaft 21 can be installed in the desired locations and quantities, enabling the lengthening of the first screw shaft 11 or the second screw shaft 21, and allowing the first screw shaft 11 or the second screw shaft 21 to rotate at high speed.

[0144] Furthermore, in this embodiment 1, the transport system 1 includes a fixing device F for fixing the transport unit body 90 during transport, as shown in Figure 20. By fixing the transport unit body 90 with the fixing device F, the accuracy of various operations on the transport unit body 90 can be improved. In addition, since the transport unit body 90 can be fixed with the fixing device F, the power to the motors 13, 23, 33, and 43 of each transport device 10, 20, 30, and 40 can be turned off when various operations are being performed on the transport unit body 90.

[0145] Furthermore, in this embodiment 1, the slider 93 of the transport unit body 90 has a fall prevention member 93c to prevent the rolling elements from falling off, as shown in Figures 7 and 8A. Therefore, even if the transport unit body 90 comes off the first guide 12 or the second guide 22, the rolling elements will not scatter. Also, since the rolling elements do not scatter, the transport system 1 according to this embodiment 1 can improve maintenance efficiency.

[0146] In the above embodiment 1, the transport system 1 comprises multiple transport unit bodies 90, as shown in Figure 3. However, it is not limited to this. The transport system 1 may comprise only one transport unit body 90. Furthermore, the number of transport unit bodies 90 can be appropriately changed depending on the intended use of the transport system 1.

[0147] In the above embodiment 1, the transport system 1 is equipped with two fixing devices F. However, it is not limited to this. The transport system 1 may be equipped with only one fixing device F. The number of fixing devices F can be appropriately changed depending on the intended use of the transport system 1.

[0148] Embodiment 2. In Embodiment 1 described above, as shown in Figure 3, the first screw shaft 11, the second screw shaft 21, the third screw shaft 31, and the fourth screw shaft 41 are installed parallel to the vertical plane (a plane parallel to the XZ plane) and are also installed parallel to each other. As a result, the first screw shaft 11, the second screw shaft 21, the third screw shaft 31, and the fourth screw shaft 41 are installed facing each other in the vertical direction (Z-axis direction). However, this is not the only possible configuration. Below, the transport system 2 according to Embodiment 2 of the present invention will be described with reference to the figures. For the sake of ease of understanding, XYZ coordinates will be set and referred to as appropriate. In Embodiment 2, everything except the points described above is the same as or equivalent to Embodiment 1.

[0149] As shown in Figures 26 and 27, the conveying system 2 is a device used to transport objects (workpieces) such as parts of industrial products, which are incorporated as part of a manufacturing line used in a factory, for example. As shown in Figures 28 and 29, the conveying system 2 comprises a first conveying device 10, a second conveying device 20, a third conveying device 30, a fourth conveying device 40, transfer devices 50 and 70, conversion devices 160 and 180, a conveying unit body 90, and a fixing device F. In this embodiment 2, all of the devices of the conveying system 2 are installed on the mounting surface (top surface) of the frame.

[0150] The first conveying device 10, the second conveying device 20, the third conveying device 30, the fourth conveying device 40, and the transfer devices 50 and 70 have the same structure as those of Embodiment 1.

[0151] The first screw shaft 11 is installed so as to be coaxial with the second screw shaft 21.

[0152] Unlike Embodiment 1, the second screw shaft 21 and the third screw shaft 31 are installed parallel to the horizontal plane (a plane parallel to the XY plane) and parallel to each other. As a result, the second screw shaft 21 and the third screw shaft 31 are installed facing each other in the X-axis direction.

[0153] The fourth screw shaft 41 and the first screw shaft 11 are installed parallel to the horizontal plane (a plane parallel to the XY plane) and parallel to each other. As a result, the fourth screw shaft 41 and the first screw shaft 11 are installed facing each other in the X-axis direction. Furthermore, the fourth screw shaft 41 is installed coaxially with respect to the third screw shaft 31.

[0154] As shown in Figures 29, 30, and 31, the switching device 160 is a device configured by combining multiple linear actuators and is equipped with a movable guide 61 for the switching device. This switching device 160 has a movable guide 61 for the switching device that is connected to the second guide 22, and also releases the connection between the second guide 22 and the movable guide 61 for the switching device. The switching device 160 also releases the engagement of the nut 91 with the second screw shaft 21. Then, together with the movable guide 61 for the switching device, the switching device 160 transports the transport unit body 90 in the +X direction or the -X direction. In addition to the movable guide 61 for the switching device, the switching device 160 has a first moving unit 60A and a second moving unit 60B.

[0155] The first moving unit 60A is a linear actuator that reciprocates the slider table T1 in a first direction D1 (axial direction, Y-axis direction). The first direction D1 is the axial direction of the second screw shaft 21 and the third screw shaft 31, and is parallel to the Y-axis direction. The first moving unit 60A moves the transport unit body 90 to a position where the second screw shaft 21 or the third screw shaft 31 and the nut 91 do not face each other. In addition to the slider table T1, the first moving unit 60A includes, for example, a motor 60A-1, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider 60A-2 to which the ball screw nut is attached, a housing 60A-3 having a rail, and a folding unit 60A-4.

[0156] The second moving unit 60B is a linear actuator that reciprocates the slider table T2 in a second direction D2 (orthogonal direction, X-axis direction). The second direction D2 is orthogonal to the first direction D1, which is the axial direction of the second screw shaft 21 and the third screw shaft 31, and is parallel to the X-axis direction. In addition to the slider table T2, the second moving unit 60B includes, for example, a motor 60B-1, a ball screw (not shown) having a ball screw shaft and a ball screw nut, a slider 60B-2 to which the ball screw nut is attached, and a housing 60B-3 having rails.

[0157] Furthermore, the switching device 160 also has an engaging member 60D.

[0158] The engaging member 60D is fixed to the slider table T1 of the first moving unit 60A. Furthermore, a movable guide 61 for the switching device is fixed to the upper part of the engaging member 60D. The engaging member 60D has a projection that fits into the fitting groove of the fitting plate of the transport unit body 90. In this embodiment, the projection of the engaging member 60D does not have an inclined surface that is inclined with respect to the XY plane. However, it is not limited to this. The projection of the engaging member 60D may have an inclined surface that is inclined with respect to the XY plane.

[0159] As shown in Figures 28 and 29, the switching device 180 has the same structure as that of the switching device 160. The switching device 180 includes a movable guide 81 for the switching device, a first moving unit 80A, and a second moving unit 80B.

[0160] The operation of the transport unit body 90 and the transport object in the transport system 2 configured as described above will be explained with reference to the diagram.

[0161] As shown in Figures 32 and 33, the transport unit body 90 moves smoothly on the second guide 22 as the slider 93 moves along it. Then, as shown in Figures 34 and 35, the transport unit body 90 moves from the second guide 22 to the movable guide 61 for the switching device of the switching device 160.

[0162] Next, as shown in Figure 36, the switching device 160 moves the movable guide 61 for the switching device and the transport unit body 90 slightly in the X-axis direction by the operation of the second moving unit 60B. Then, as shown in Figures 37A and 37B, the movable guide 61 for the switching device and the transport unit body 90 move in the X-axis direction while remaining supported by the first moving unit 60A. At this time, the nut 91 begins to detach from the second screw shaft 21, but as shown in Figure 37B, the biasing force of the biasing means 92b maintains its engagement with the second screw shaft 21. Furthermore, the movable guide 61 for the switching device and the transport unit body 90 move in the X-axis direction. Then, as shown in Figure 37C, the nut 91 detaches from the second screw shaft 21.

[0163] Furthermore, as the engaging member 60D moves in the X-axis direction, the protruding portion of the engaging member 60D fits into the fitting groove 92d-1 formed in the fitting plate 92d of the engaging mechanism 92. As a result, the transport unit body 90 is fixed to the movable guide 61 for the switching device, and the engagement between the nut 91 and the second screw shaft 21 is released.

[0164] As a result, the conversion device 160 disengages the nut 91 from the second screw shaft 21.

[0165] Next, as shown in Figure 38, the conversion device 160 moves the movable guide 61 for the conversion device and the transport unit body 90 in the Y-axis direction through the operation of the first moving unit 60A.

[0166] Next, as shown in Figure 39, the conversion device 160 moves the movable guide 61 for the conversion device and the transport unit body 90 in the X-axis direction through the operation of the second moving unit 60B. Eventually, as shown in Figure 40, the movable guide 61 for the conversion device and the transport unit body 90 move to the end in the X-axis direction.

[0167] Next, as shown in Figure 41, the switching device 160 moves the movable guide 61 for the switching device and the transport unit body 90 in the Y-axis direction through the operation of the first moving unit 60A. As a result, the movable guide 61 for the switching device and the transport unit body 90 approach the third guide 32. At this time, the movable guide 61 for the switching device is not connected to the third guide 32.

[0168] Next, as shown in Figure 42, the switching device 160 moves the movable guide 61 for the switching device and the transport unit body 90 slightly in the X-axis direction by the operation of the second moving unit 60B. As a result, the switching device 160 connects the movable guide 61 for the switching device to the third guide 32 and engages the nut 91 with the third screw shaft 31. At this time, the protruding portion of the engaging member 60D, which was fitted into the fitting groove 92d-1 formed in the fitting plate 92d of the engaging mechanism 92, is disengaged from the fitting groove 92d-1. Next, as can be seen by referring to Figures 28 and 29, as the transport unit body 90 is transported in the Y-axis direction by the third transport device 30, the transport unit body 90 eventually moves to the vicinity of the holding portion 35 that supports the +Y side of the third screw shaft 31. The transfer device 70 detaches the nut 91 from the third screw shaft 31 and engages the nut 91 with the fourth screw shaft 41 of the fourth transport device 40. Through the action of this transfer device 70, the transport unit body 90 transfers from the third transport device 30 to the fourth transport device 40.

[0169] When the transport unit body 90 moves to the fourth guide 42, the transport unit body 90 is transported in the +Y direction by the fourth transport device 40. Eventually, the transport unit body 90 moves from the fourth guide 42 to the movable guide 81 for the switching device of the switching device 80.

[0170] Then, the transfer device 180 transports the conveying unit from the fourth conveying device 40 to the first conveying device 10. With this, the transport of the conveying unit body 90 in the conveying system 2 is completed.

[0171] As described above, in the transport system 2 according to this second embodiment, as shown in Figure 29, the transfer device 160 has an engaging member 60D, a first moving unit 60A, and a second moving unit 60B. Therefore, in the transport system 2 according to this second embodiment, the transport unit body 90 that supports the transported object can be transferred from the second transport device 20 to a third transport device 30, which is a separate device, while suppressing structural complexity. Furthermore, the same effects as in the first embodiment can be achieved in this second embodiment as well.

[0172] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above.

[0173] For example, in Embodiment 1, as shown in Figure 2, each device of the transport system 1 is installed on the upper and lower levels of the frame. However, the installation location of each device is not limited to this. The installation location of each device can be changed as appropriate depending on the intended use of the transport system. Also, for example, as shown in Figure 43, casters 153 may be attached to the frame 150 on which the transport system is installed. This makes it easier for the user to move the transport system 1. Furthermore, the frame 150 may be a combination of multiple frames 150-1 and 150-2. In this case, it is preferable that the transfer devices 50 and 70 are not positioned to straddle frames 150-1 and 150-2, in order to make it easier to separate frame 150-1 from frame 150-2.

[0174] The present invention can be implemented in various forms and modified without departing from the broad spirit and scope of the invention. The embodiments described above are for illustrative purposes only and do not limit the scope of the invention. [Explanation of Symbols]

[0175] 1, 2: Conveyor system 10: First conveying device 11: First screw shaft 12: Guide 1 12a: Guide groove 13: Motor 14: Turnaround Unit 15: Holding part 16: Support component 20: Second conveying device 21: Second screw shaft 22: Guide 2 22a: Guide groove 23: Motor 24: Turnaround Unit 25: Holding part 26: Support component 30: Third conveying device 31: Third screw shaft 32: Third Guide 32a: Guide groove 33: Motor 34: Turnaround Unit 35: Holding part 36: Support component 40: Fourth conveying device 41: Fourth screw shaft 42: Guide 4 42a: Guide groove 43: Motor 44: Turnaround Unit 45: Holding part 46: Support component 50, 70: Transfer device 50A, 70A: Mobile unit 50B, 70B: Engagement / Release Unit (Retention Release Mechanism) 50C, 70C: Engaging member (holding / release mechanism) 50C-1, 70C-1: Inclined surface 51, 71: Motor 52, 72: Housing 53, 73: Turnaround unit 56, 76: Brake unit 57, 77: Housing 60, 80, 160, 180: Conversion device 60A, 80A: First mobile unit 60A-1, 80A-1: Motor 60A-2, 80A-2: Slider 60A-3, 80A-3: Housing 60A-4, 80A-4: Folding unit 60A-5, 80A-5: Cable Unit 60A-6, 80A-6: Extension arm 60B, 80B: Second mobile unit 60B-1, 80B-1: Motor 60B-2, 80B-2: Slider 60B-3, 80B-3: Housing 60B-5, 80B-5: Cable Unit 60C, 80C: Engagement / Disengagement Unit 60C-1, 80C-1: Brake unit 60C-3, 80C-3: Housing 60C-T, 80C-T: Slider Table 60D, 80D: Engaging member (holding / release mechanism) 61, 81: Movable guides for conversion devices 61a, 81a: Guide groove 90: Conveyor Unit 91: Nut 91a: Panel 91b: Fasteners 91c: Nut support member 91d: Fastener 92: Engagement mechanism 92a: Housing 92b: Biasing means 92c: Movable member 92d: Mating plate 92d-1: Fitting groove 92d-2: Locked part 92e: Engagement retention mechanism 92e-1: Locking part 92e-2: Rotation axis 92f: Support member 92f-1: Fastener 92g: Retention release contact member 92h: Bearing 93: Slider 93c: Anti-detachment component 94: Unit for placing transported objects 94a: Mounting surface 94b: Mated part 99: Holding release tool 99a: Holding release tool body 99a-1: Hook part 99b: Push-in part 99c: Rotary operation part 99d: Push-up part 150, 150-1, 150-2: Stand 151: Upper section 152: Lower section 153: Caster F:Fixing device F-1: Fixing pin F-2: Mobile Unit F-3: Motor T: Tapered groove portion T1, T2, T5, T6, T11, T12, T15, T16: Slider table D1: 1st direction (axial direction) D2: Second direction (orthogonal direction) D3: Third direction D4: 4th direction S1, S2, S3, S4: Placement space

Claims

1. A transport unit body that supports the object to be transported, A first conveying device having a first screw shaft that conveys the conveying unit body as it rotates, and a first guide that supports the conveying unit body so that it can be freely conveyed, A second conveying device having a second screw shaft that conveys the conveying unit body as it rotates, and a second guide that supports the conveying unit body so that it can be freely conveyed, The transport unit body is provided with a transfer device that moves it from the first transport device to the second transport device, The transport unit body includes a nut that engages with the first screw shaft or the second screw shaft, and an engagement mechanism that engages the nut with the first screw shaft or the second screw shaft. The conveying system comprises: a switching device, an engagement / disengagement unit that works in cooperation with the engagement mechanism to engage and disengage the nut from the first screw shaft or the second screw shaft; a first moving unit that conveys the conveying unit body in the axial direction of the first screw shaft or the second screw shaft; and a second moving unit that moves the first moving unit and the engagement / disengagement unit in an orthogonal direction perpendicular to the axial direction of the first screw shaft or the second screw shaft.

2. A transport unit body that supports the object to be transported, A first conveying device having a first screw shaft that conveys the conveying unit body as it rotates, and a first guide that supports the conveying unit body so that it can be freely conveyed, A second conveying device having a second screw shaft that conveys the conveying unit body as it rotates, and a second guide that supports the conveying unit body so that it can be freely conveyed, The transport unit body is provided with a transfer device that moves it from the first transport device to the second transport device, The transport unit body has a nut that engages with the first screw shaft or the second screw shaft, The conveying system comprises a first moving unit that conveys the conveying unit body in the axial direction of the first screw shaft or the second screw shaft, and a second moving unit that moves the first moving unit in an orthogonal direction perpendicular to the axial direction of the first screw shaft or the second screw shaft, and engages and disengages the nut from the first screw shaft or the second screw shaft.

3. The transport system according to claim 1 or 2, wherein the first moving unit moves the transport body to a position where the first screw shaft or the second screw shaft and the nut do not face each other.

4. The conveying system according to claim 1 or 2, wherein the conversion device has a movable guide for the conversion device that is connected to the first guide or the second guide, and the connection between the first guide or the second guide and the movable guide for the conversion device is released.

5. The conveying system according to claim 1 or 2, wherein the nut is a split nut formed in a split shape.

6. The conveying system according to claim 1 or 2, wherein the first screw shaft and the second screw shaft are installed parallel to the horizontal plane and are also installed parallel to each other.

7. The conveying system according to claim 1, wherein the first screw shaft and the second screw shaft are installed parallel to a vertical plane and are also installed parallel to each other.

8. The first moving unit is installed in a position that does not interfere with the first screw shaft or the second screw shaft. The transport system according to claim 7, wherein the first moving unit has an extension arm at the tip of which the engagement / disengagement unit is installed, and moves the engagement / disengagement unit to a position facing the first screw shaft or the second screw shaft.

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