Conveying device

Abstract

To provide a conveying device that can stably transport objects without requiring complex movements. [Solution] The system includes a transport mechanism that transports an object to be transported in a first transport direction having a horizontal component and stops it at a first position above the conveyor transport surface, and a moving mechanism that moves the object to be transported from the first position to the conveyor transport surface moving in a second transport direction. The transport mechanism may have a base that reciprocates between a first position along the first transport direction and a second position that is away from above the conveyor transport surface and upstream of the first position in the first transport direction.

Description

[Technical Field]

[0001] The present disclosure relates to a conveying device. [Background Art]

[0002] Patent Document 1 discloses a weighing device that controls the moving speed of a conveyor in the left-right direction, which is a direction orthogonal to the conveying direction, such that the delivery speed at which a delivery-side conveyor delivers an article matches the moving speed of a receiving-side conveyor when receiving the delivered article. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2019-138651 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, the technology disclosed in Patent Document 1 requires a complex operation of controlling the moving speed of the receiving-side conveyor in the left-right direction, which may make it difficult to stably convey articles.

[0005] Therefore, in one aspect, an object of the present disclosure is to provide a conveying device capable of stably conveying objects to be conveyed without requiring complex operations. [Means for Solving the Problem]

[0006] According to one aspect of the present disclosure, a conveying mechanism that conveys an object to be conveyed in a first conveying direction having a horizontal component and stops the object at a first position above a conveyor conveying surface; a moving mechanism that moves the object to be conveyed from the first position onto the conveyor conveying surface moving in a second conveying direction; there is provided a conveying device comprising: [Effect of the Invention]

[0007] In one respect, according to this disclosure, objects can be transported stably without requiring complex movements. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view showing the configuration of the processing apparatus equipped with the transport device of this embodiment. [Figure 2] This is a perspective view showing the configuration of the conveying device in this embodiment. [Figure 3] This is a perspective view showing the configuration of the conveying device in this embodiment. [Figure 4] This diagram shows an example of the configuration of the control system for the processing unit. [Figure 5] This diagram schematically shows the positional relationship of each element in the operating state of the conveying device of this embodiment. [Figure 5A] This diagram schematically shows the positional relationship of each element in the operating state of the conveying device of this embodiment. [Figure 5B] This diagram schematically shows the positional relationship of each element in the operating state of the conveying device of this embodiment. [Figure 6] This is a top view showing an example of the arrangement of pins protruding from below the transport path. [Figure 6A] This is a cross-sectional view showing an example of the arrangement of pins protruding from below the transport path. [Figure 6B] This is a cross-sectional view showing an example of the arrangement of pins protruding from below the transport path. [Figure 6C] This figure shows an example of the arrangement of pins extending from above the transport path. [Figure 7] This is a top view showing an example of a modified base shape. [Figure 7A] This diagram (cross-sectional view along line AA in Figure 7) shows an example where a slope is provided on the base. [Figure 8] This figure shows an example in which a return structure is provided on the contact member. [Figure 9] This figure shows an example where the orientation of the contact member has been changed. MODE FOR CARRYING OUT THE INVENTION

[0009] FIG. 1 is a perspective view showing the configuration of a processing apparatus provided with the conveying device of the present embodiment; FIGS. 2 and 3 are perspective views showing the configuration of the conveying device of the present embodiment; FIG. 4 is a diagram showing a configuration example of a control system of the processing apparatus; and FIGS. 5 to 5B are diagrams schematically showing the positional relationship of respective elements in an operating state of the conveying device of the present embodiment.

[0010] The processing apparatus shown in FIG. 1 is an apparatus that conveys containers 50 in the X direction (a first conveying direction) while performing a process of placing prepared dishes 60 into the containers 50 by a robot apparatus 90. The container 50 with the prepared dishes 60 placed thereon is further conveyed in the X direction by the processing apparatus, and is transferred onto a conveying surface 41 of a belt conveyor apparatus 40 that moves in the Y direction (a second conveying direction).

[0011] In the present embodiment, the container 50 and the prepared dish 60 are exemplified as objects to be conveyed, but the objects to be conveyed are arbitrary and are not limited to foods or food ingredients. For example, the objects to be conveyed also include various industrial products and various materials.

[0012] Further, in the present embodiment, as shown in FIGS. 1 to 3, both the first conveying direction and the second conveying direction are horizontal directions, and the first conveying direction and the second conveying direction are orthogonal to each other. However, at least the first conveying direction only needs to have a horizontal direction component, and the first conveying direction and the second conveying direction do not need to be orthogonal to each other, and only need to intersect each other.

[0013] As shown in FIGS. 1 to 3, the conveying device of the present embodiment includes: a base 10 on which a container 50 with a prepared dish 60 placed thereon is placed; an abutment member 20 that functions as an abutment portion for preventing movement of the container 50 placed on the base 10; and a conveying path 30 that conveys the container 50 in the Y direction and transfers the container 50 to the base 10. The base 10 and the conveying path 30 function as a moving mechanism that conveys an object to be conveyed in the first conveying direction and stops the object above the conveyor conveying surface. Further, the base 10 and the abutment member 20 function as a moving mechanism that moves the object to be conveyed to the conveyor conveying surface 41.

[0014] The base 10 is reciprocally movable along the X-axis direction by a drive mechanism 71 having an actuator (FIGS. 3 and 4).

[0015] The abutting member 20 is reciprocally movable along the Y-axis direction by a drive mechanism 72 having an actuator (FIGS. 3 and 4).

[0016] In a state where the abutting member 20 is positioned above the base 10 at the second position P2 (corresponding to FIGS. 1 and 2), the abutting member 20 is located at a position overlapping the container 50 in the Y-axis direction. That is, the abutting member 20 is in an abutting position where it can abut against the container 50. On the other hand, when the abutting member 20 in the abutting position is driven in the Y direction by the drive mechanism 72, the abutting member 20 moves in the Y direction from the abutting position and retracts to a retracted position where it does not contact the container 50.

[0017] The conveyance path 30 is provided with a sliding surface 31 and a sliding surface 32 formed as mutually flush surfaces (for example, horizontal planes) with respect to the surface of the base 10 (FIGS. 2 and 3). As shown in FIGS. 2 and 3, the sliding surface 32, the sliding surface 31, and the base 10 are sequentially arranged along the conveyance direction of the container 50, that is, the X direction, and function as a linear conveyance path for conveying the container 50 in the X direction.

[0018] The conveyance path 30 is provided with a conveyance member 33 and a conveyance member 34 that are movable in the X-axis direction by a drive mechanism 73 having an actuator (FIG. 4) (FIGS. 2 and 3). The conveyance member 33 and the conveyance member 34 are driven in the X-axis direction while maintaining a constant mutual interval in the X direction by the drive mechanism 73 having an actuator (FIG. 4), and can be retracted upward by being simultaneously rotated by the drive mechanism 73.

[0019] The transport members 33 and 34 are driven by a certain width in the X direction from the starting state (the state shown in Figures 2 and 3), thereby simultaneously pushing and transporting the containers 50 in the X direction. In other words, two containers 50 are transported simultaneously by the transport members 33 and 34. After transporting the two containers 50, the transport members 33 and 34 are moved upward and driven by the same certain width in the -X direction, and then lowered downward, returning to the starting state. By repeating this operation, the containers 50 can be sequentially transported in the X direction along the transport path 30.

[0020] Furthermore, by driving multiple transport means, namely transport members 33 and 34, with a common drive mechanism 73, the efficiency of transport can be improved.

[0021] Furthermore, a pair of guide members 35 are provided on both sides (both sides in the Y-axis direction) of the sliding surface 31 of the transport path 30, which are moved in the Y-axis direction by a drive mechanism 74 (Figure 4) equipped with actuators (Figure 3). The pair of guide members 35 have the function of fixing and positioning the container 50 placed on the sliding surface 31.

[0022] As shown in Figure 4, the processing device includes a control device 70 that performs the control related to the above processing. The control device 70 controls the drive mechanisms 71, 72, 73, 74 and the robot control unit 91. The control device 70 also controls a drive mechanism 75 equipped with an actuator for transporting the container 50 to the fourth position P4 (Figures 1 and 2).

[0023] Furthermore, the control device 70 is connected to an operation unit 78 that receives instructions and other commands related to the operation of the processing device, and a display unit 79 that displays information related to the operation of the processing device.

[0024] Next, the processing in the processing apparatus will be described, focusing on the operation of the conveying device in this embodiment. The following describes each step in the process of conveying one container 50 along the conveying path in the X direction. However, in reality, the processing apparatus can convey multiple containers 50 simultaneously by simultaneously executing the processing at each step along the conveying path, as shown in Figure 1.

[0025] First, empty containers 50 are supplied from a container supply machine (not shown) in which a large number of containers 50 are stacked and held, and are transported to the fourth position P4 (Figures 1 and 2) by a drive mechanism 75.

[0026] Next, the container 50 placed at the fourth position P4 is pushed in the X direction by the transport member 34, causing it to slide sequentially along the sliding surfaces 32 and 31 of the transport path 30, and is transported to the third position P3 (Figures 1 and 2).

[0027] Next, the drive mechanism 74 slides the pair of guide members 35 in the Y-axis direction from the starting position shown in Figure 3 so as to sandwich the container 50, thereby fixing and positioning the container 50 in a predetermined position. Next, the prepared food 60, which was transported by the robotic device 90, is placed into an empty container 50 that is fixed by a pair of guide members 35.

[0028] Here, a hand for grasping the prepared food 60 is attached to the arm of the robot device 90. Then, under control via the robot control unit 91, the hand grasps the prepared food 60 which is placed in a container or similar. Next, the hand transports the prepared food 60 to above the empty container 50 placed at the third position P3, and then the hand is opened to release the prepared food 60, allowing it to be placed into the container 50. In actual operation, the timing of the robot device 90's operation is controlled so that the prepared food 60 is released into the container 50 which is fixed by a pair of guide members 35.

[0029] Next, the drive mechanism 74 returns the pair of guide members 35 to the starting state shown in Figure 3, thereby releasing the container 50 and making it movable.

[0030] Next, the container 50, which has the prepared food 60 inside and is placed at the third position P3, is pushed in the X direction by the transport member 33, causing it to slide on the sliding surface 31 of the transport path 30 and the base 10, and is transported onto the base 10. At this time, as shown in Figures 2 and 3, the base 10 is waiting at the second position P2, and the container 50 stops on the base 10, that is, at the second position P2.

[0031] "State A" in Figure 5 shows the positional relationship of each element when the container 50 stops on the base 10 at the second position P2.

[0032] Next, the drive mechanism 71 drives the base 10 in the X direction, moving the base 10 from the second position P2 to the first position P1 (Figure 5) above the conveyor surface 41. At this time, the container 50 placed on the base 10 moves to the first position P1 together with the base 10, and when the base 10 stops at the first position P1, the container 50 also stops at the first position P1. During this time, the contact member 20 is in a position moved in the Y direction, i.e., in a retracted position. Therefore, the container 50 reaches the first position P1 without coming into contact with the contact member 20.

[0033] "State B" in Figure 5 shows the positional relationship of each element when the container 50 stops on the base 10 at the first position P1.

[0034] Next, the contact member 20 is driven in the -Y direction by the drive mechanism 72 to move the contact member 20 to the contact position.

[0035] "State C" in Figure 5A shows the state in which the contact member 20 has been moved to the contact position.

[0036] Next, the drive mechanism 71 drives the base 10 in the -X direction, moving the base 10 again from the first position P1 to the second position P2.

[0037] At this point, the container 50 placed on the base 10 begins to move to the second position P2 together with the base 10, but before reaching the second position P2, it comes into contact with the contact member 20. That is, the contact member 20 prevents the container 50 from moving from the first position P1 to the second position P2 together with the base 10, and when the container 50 comes into contact with the contact member 20, the velocity of the container 50 in the X-axis direction becomes virtually zero. Furthermore, as the base 10 continues to move in the -X direction, the base 10 separates from the container 50 which is being held back by the contact member 20, and the container 50 moves to the conveyor surface 41.

[0038] "State D" in Figure 5A shows the state immediately after the container 50 has moved to the conveyor surface 41.

[0039] Next, after the container 50 moves to the conveyor surface 41, the contact member 20 is driven in the Y direction by the drive mechanism 72 to return the contact member 20 to the retracted position. "State E" in Figure 5B shows the state in which the contact member 20 has been returned to the retracted position. As shown in Figure 5B, in "State E", some time has passed since the container 50 moved to the conveyor surface 41, so the container 50 has already moved in the Y direction from the position of the base 10, together with the conveyor surface 41 which is being driven in the Y direction.

[0040] Thus, in this embodiment, after the base 10 on which the container 50 is placed moves to the first position P1, the container 50 is brought into contact with the stationary contact member 20 when it returns to the second position P2. This allows the container 50 to be moved to the conveyor transport surface 41 while its velocity in the X-axis direction is close to zero.

[0041] Therefore, the container 50 can be moved to the conveyor surface 41 while reducing the relative speed between the container 50 and the conveyor surface 41 in the X-axis direction. Consequently, when moving the container 50 to the conveyor surface 41, the force and moment that the container 50 receives from the conveyor surface 41 can be suppressed, preventing deformation of the prepared food 60 and tipping of the container 50. Furthermore, when the container 50 moves, it is not necessary to perform complex operations such as moving the conveyor surface 41 in the X-axis direction to suppress the relative speed mentioned above. As a result, stable transport of the container 50 becomes possible.

[0042] Furthermore, the contact member 20 moves outside the transport path of the container 50 transported by the conveyor transport surface 41, that is, at a position offset in the -X direction from the transport path of the container 50 by the conveyor transport surface 41. Therefore, the contact member 20 does not interfere with the container 50 being transported in the Y direction by the conveyor transport surface 41, and does not obstruct the transport of the container 50.

[0043] As described above, in this embodiment, different conveying means are used for each section from upstream to downstream of the conveying path that transports the container 50 in the X direction. Specifically, the drive mechanism 74 is used as the conveying means upstream up to the fourth position P4 in the conveying path, and the conveying member 34 is used as the conveying means from the fourth position P4 to the third position P3. Furthermore, the conveying member 33 is used as the conveying means from the third position P3 to the second position P2, and the base 10 is used as the conveying means from the second position P2 to the first position P1.

[0044] Thus, in this embodiment, different conveying means are used for each section of the conveying path along the X direction, and the conveying means used downstream and the conveying means used upstream are distinguished. For example, the base 10 does not move upstream of the second position P2, and the conveying member 33 does not move upstream of the third position P3. Similarly, the conveying member 34 does not move upstream of the fourth position P4. In other words, since each conveying means is moved within a short stroke range with respect to the conveying direction (X direction), contamination is not propagated upstream.

[0045] Therefore, for example, it is effectively prevented that the prepared food 60 adhering to the conveying means (e.g., the base 10) downstream of the plating process contaminates the empty container 50 upstream. In contrast, if a belt conveyor is used as the conveying means, for example, the problem arises of carrying the dirt from downstream to upstream, but this embodiment avoids such a problem. Therefore, the conveying device of this disclosure is particularly useful as a device for conveying objects that are sensitive to contamination.

[0046] Next, we will describe some modified examples of the configuration of the conveying device.

[0047] A different type of conveying member can be used instead of conveying member 33 or conveying member 34.

[0048] Figure 6 is a top view showing an example of the arrangement of pins protruding from below the conveyor path, and Figures 6A and 6B are cross-sectional views showing an example of the arrangement of pins protruding from below the conveyor path.

[0049] In the examples shown in Figures 6 to 6B, a pair of pins 36 are used as conveying members instead of conveying member 33 or conveying member 34, and a pair of elongated holes 30a for housing the pins 36 are formed in the members constituting the conveying path 30. The pair of pins 36 are made movable simultaneously in the X-axis direction and in the vertical direction (Z-axis direction).

[0050] The container 50 can be transported in the X direction by moving the pair of pins 36 in the X direction with the pins protruding upward from the transport path 30 (Figure 6A). After the container 50 has been transported, when moving the pins 36 in the -X direction, the pins 36 can be housed in the elongated holes 30a (Figure 6B), thereby preventing interference with the container 50 in the transport path 30.

[0051] Figure 6C shows an example of the arrangement of pins extending from above the transport path.

[0052] In the example shown in Figure 6C, a pair of pins 36 are provided above the transport path 30. The pair of pins 36 are driven vertically, and when lowered (Figure 6C), they contact the container 50 on the transport path 30, while when raised, they do not reach the container 50 on the transport path 30. In this case as well, by moving the pins in the X direction while they are lowered, the container 50 on the transport path 30 can be transported in the X direction. Furthermore, by moving the pins in the -X direction while they are raised, interference with the container 50 on the transport path 30 can be prevented.

[0053] Figure 7 is a top view showing an example of a modified base shape, and Figure 7A is a diagram showing an example of a base with a slope (cross-sectional view along line AA in Figure 7).

[0054] In the example shown in Figure 7, the base 10A is provided with an end 11 that is inclined with respect to the direction of movement (Y direction) of the conveyor transport surface 41. By moving the container 50 to the conveyor transport surface 41 via such an end 11, a portion of the container 50 (the front side in the Y direction) lands on the conveyor transport surface 41 first, thus preventing the container 50 from tipping over. Furthermore, the orientation of the container 50 as it moves to the conveyor transport surface 41 can be adjusted. Alternatively, as shown in Figure 7A, a slope 12 that decreases in height as it goes in the +X direction can be provided at the +X end of the base 10A so that a portion of the container 50 (the +X side) lands on the conveyor transport surface 41 first.

[0055] Furthermore, the orientation of the container 50 when it moves to the conveyor surface 41 may be adjusted by changing the shape and orientation of the contact member 20. For example, a return structure may be provided on the contact member 20. Figure 8 shows an example in which a return structure is provided on the contact member. In the example in Figure 8, a projection or plate-like part 21 that protrudes horizontally is provided on the upper part of the contact member 20, which prevents the edge 52 of the container 50 from moving upward. The container 50 may tilt and tip over during the process of moving from the base 10 to the conveyor surface 41 (corresponding to "State D" in Figure 5A to "State E" in Figure 5B), but this return structure makes it possible to prevent tipping.

[0056] Figure 9 shows an example where the orientation of the contact member has been changed.

[0057] Figure 9 corresponds to "State D" in Figure 5A. In this case, as shown in Figure 9, the direction of the container 50 that is in contact with the contact member 20 (direction in the horizontal plane) is adjusted to align with the orientation of the contact member 20. As a result, a part of the container 50 (the front side in the Y direction) lands on the conveyor surface 41 first, which prevents the container 50 from tipping over and allows adjustment of the orientation of the container 50 as it moves onto the conveyor surface 41.

[0058] As described above, according to the above embodiment, the transport mechanism transports the object to be transported in a first transport direction (X direction) having a horizontal component and stops it at a first position P1 above the conveyor transport surface 41, and the moving mechanism moves the object to be transported from the first position P1 to the conveyor transport surface 41 which is moving in a second transport direction (Y direction). Therefore, the object to be transported can be transported stably without requiring complex operations.

[0059] Although each embodiment has been described in detail above, the invention is not limited to any particular embodiment, and various modifications and changes are possible within the scope described in the claims. Furthermore, it is possible to combine all or more of the components of the embodiments described above. [Explanation of Symbols]

[0060] 10 bases 20 Contact Member 30 Conveyor paths 33 Conveying Member 34 Conveying Members 41 Conveyor transport surface 50 containers 60 prepared foods P1 1st position P2 2nd position

Claims

1. A conveying mechanism that conveys an object to be conveyed in a first conveying direction having a horizontal component and stops it at a first position above the conveying surface, A moving mechanism for moving the object to be transported from the first position to the conveyor surface moving in the second transport direction, A conveying device equipped with the following features.

2. The transport mechanism has a base that reciprocates between a first position along the first transport direction and a second position that is away from above the conveyor surface and upstream of the first position in the first transport direction. The conveying device according to claim 1, wherein the object to be conveyed is placed on the base at the second position, conveyed to the first position by the movement of the base, and stops at the first position when the base stops.

3. The moving mechanism has a contact portion that contacts the object to be transported and prevents the object to be transported from moving toward the second position. The conveying device according to claim 2, wherein when the contact portion is in contact with the object to be conveyed, the base moves from a first position to a second position, thereby moving the base away from the object to be conveyed and the object to be conveyed moves to the conveyor surface.

4. The conveying device according to claim 2, wherein the conveying mechanism has a conveying member that conveys the object to be conveyed to the second position in the first conveying direction without using the base, upstream of the second position in the first conveying direction.

Images