Equipment for sending out transported objects

Abstract

To provide a delivery device for moving a conveyed object to the direction different from the conveying direction in a state of keeping attitude.SOLUTION: A delivery device A delivering a rectangular parallelepiped shaped conveyed object 7 moving along a merging conveyance path 120 extended in parallel to a main conveyance path 110 from the merging conveyance path 120 to the main conveyance path 110 has multiple contact parts 62 coming into contact with the conveyed object 7 and a delivery moving part 61 moving the multiple contact parts 62 from the merging conveyance path 120 toward the main conveyance path 110. The contact part 62 has a first contact part 621 coming into contact with a side face 71 opposite to the main conveyance path 110 of the conveyed object 7, and a second contact part 622 coming into contact with a side face 74 rearward the conveying direction of the conveyed object 7. The multiple contact parts 62 are arranged to the delivery moving part 61 at an equal interval.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a conveyed object. 、 This invention relates to a device for sending out transported objects while maintaining their posture. [Background technology]

[0002] For example, there is a conveying device that pushes an item transported by a conveyor with a pusher, sliding the item in a direction intersecting the conveying direction of the conveyor, thereby shifting the item to the width (see, for example, JP 2020-1915 A). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-1915 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a configuration in which an article is pushed by a pusher, the article may be knocked over or the posture of the article may change. When an article is pushed by a pusher and then transferred to another conveying device, the conveying may become difficult depending on the conveying method of the conveying device.

[0005] SUMMARY OF THE PRESENT DISCLOSURE An object of the present invention is to provide a device for sending out transported objects that can move the transported objects in a direction different from the transport direction while maintaining their posture. [Means for solving the problem]

[0006] In order to achieve the above object, the present invention provides a device for sending out transported objects, which sends out rectangular parallelepiped-shaped transported objects moving along a junction transport path extending parallel to a main transport path from the junction transport path to the main transport path. The device for sending out transported objects has a plurality of contact portions that contact the transported objects, and a sending-out moving portion that moves the plurality of contact portions from the junction transport portion toward the main transport portion. The contact portions have a first contact portion that contacts a side of the transported object opposite the main transport path, and a second contact portion that contacts a side of the transported object rearward in the transport direction. The plurality of contact portions are arranged at equal intervals on the sending-out moving portion.

[0007] With this configuration, the object can be sent to the main transport path while maintaining the same posture as when it was being transported in the junction transport path, so that the object can be sent to the main transport path accurately.

[0008] In the aforementioned configuration, the first contact portion has a first contact surface that comes into surface contact with a side surface of the transported object opposite the main transport path.

[0009] In the aforementioned configuration, the second contact portion has a second contact surface that comes into contact with the rear side surface in the transport direction.

[0010] In the above configuration, the output moving section has an upward moving section disposed above the transported object and in which the second contact section is disposed, and a lateral moving section disposed opposite to a surface of the transported object opposite to the main transport path and in which the first contact section is disposed. The moving speed of the second contact section by the upward moving section and the moving speed of the first contact section by the lateral moving section are equal.

[0011] In the above configuration, the upward movement section and the lateral movement section are both belt conveyors.

[0012] In the above configuration, the linear conveying section further includes a conveying shuttle that is arranged along the main conveying path and moves in the conveying direction while holding the front and rear surfaces of the conveyed object in the conveying direction, and the output moving section moves the conveyed object so that the speed of the conveyed object in the direction along the main conveying path is the same as that of the conveying shuttle. Effect of the Invention

[0013] According to the present invention, it is possible to provide a device for sending out a transported object that can move the transported object in a direction different from the transport direction while maintaining its posture. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic layout diagram of a transport device that transports a transport case as an object to be transported. [Diagram 2] FIG. 2 is a functional block diagram of the transport device. [Diagram 3] FIG. 13 is a plan view showing a state in which a first holding shuttle and a second holding shuttle holding a transport case are moving along a linear rail. [Figure 4] FIG. 13 is a plan view showing a state in which a first holding shuttle and a second holding shuttle holding a transport case are moving along a curved rail. [Diagram 5] FIG. 4 is a view of the first holding shuttle and the second holding shuttle shown in FIG. 3 as seen from the outside. [Figure 6] FIG. 11 is a view of the first holding shuttle as seen from the upstream side in the transport direction. [Figure 7] FIG. 11 is a view of the second holding shuttle as seen from the upstream side in the transport direction. [Figure 8] FIG. [Figure 9] 1 is a perspective view of a discharge unit provided in a sending device. FIG. [Figure 10] 4 is a perspective view of a feed section provided in the feed device as viewed from below. FIG. [Figure 11] FIG. 11 is a plan view showing a state where the first star wheel is holding a transport case that is located most downstream in the transport direction at time T1. [Figure 12] FIG. 4 is a plan view showing the position of the second star wheel at time T1. [Figure 13] FIG. 13 is a plan view showing the state at time T2 when the first star wheel has sent out the transport case. [Figure 14] FIG. 11 is a plan view showing the position of the second star wheel at time T2. [Figure 15] 13 is a plan view showing a state where the second star wheel is holding the transport case furthest downstream in the transport direction at time T3. FIG. [Figure 16] FIG. 11 is a plan view showing the position of the first star wheel at time T3. [Figure 17] 13 is a flowchart showing the operation of the main transport mechanism in the branching section. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] <Transportation device A> Fig. 1 is a schematic layout diagram of a conveying device A that conveys a conveying case 7, which is an object to be conveyed. Fig. 2 is a functional block diagram of the conveying device A. As shown in Fig. 1, the conveying device A is incorporated into a manufacturing process of a product (not shown), and conveys the conveying case 7, which is an object to be conveyed, by using a linear motor.

[0017] 1 and 2, the conveying device A includes a conveying path 100, a conveying mechanism 200, a sending device 300, and a control unit 400. The conveying case 7 is conveyed along the conveying path 100.

[0018] <Transport path 100> The conveying path 100 has a main conveying path 110, a junction conveying path 120, and a branch conveying path 130. The main conveying path 110 is a loop-shaped conveying path (hereinafter, it may be referred to as a small loop). The junction conveying path 120 merges with the main conveying path 110. The branch conveying path 130 branches off from the main conveying path 110. In the conveying path 100, the junction conveying path 120 and the branch conveying path 130 are connected, for example, by a curved conveying path 140. That is, in the conveying path 100, a part of the main conveying path 110, the junction conveying path 120, the branch conveying path 130, and the curved conveying path 140 form a loop (hereinafter, it may be referred to as a large loop). Here, the loop shape refers to a shape in which both ends are connected and closed. In this embodiment, the conveying case 7 is conveyed clockwise on each of the small loop-shaped conveying path and the large loop-shaped conveying path.

[0019] Therefore, in the following description, the clockwise direction in the conveying path 100 is referred to as the conveying direction Tr1. The side facing the conveying direction Tr1 is referred to as the "downstream side of the conveying direction" or the "front side of the conveying direction" when indicating a position within a member, and the opposite side is referred to as the "upstream side of the conveying direction" or the "rear side of the conveying direction" when indicating a position within a member. Also, the direction facing the outside of the part surrounded by the loop-shaped conveying path may be referred to as the outward direction intersecting with the conveying direction Tr1, and may simply be referred to as the "outward direction." Also, the opposite side to the "outward direction" in the direction intersecting with the conveying direction Tr1 may be referred to as the "inward direction."

[0020] 1, the main transport path 110 of the transport path 100 has a first working unit St1 that performs a predetermined operation on the transport case 7. In addition, the curved transport path 140 has a second working unit St2 that performs an operation different from that of the first working unit St1. Note that a working unit other than the first working unit St1 and the second working unit St2 may be provided.

[0021] <Main conveyor path 110> The main conveying path 110 has a first straight portion 111, a second straight portion 112, a first curved portion 113, and a second curved portion 114. The first straight portion 111 and the second straight portion 112 are arranged in parallel. The first curved portion 113 connects the downstream side of the first straight portion 111 in the conveying direction to the upstream side of the second straight portion 112 in the conveying direction. The second curved portion 114 connects the downstream side of the second straight portion 112 in the conveying direction to the upstream side of the first straight portion 111 in the conveying direction.

[0022] In the main conveying path 110, the first curved portion 113 and the second curved portion 114 are arc-shaped in plan view, but are not limited to this. They may be in a shape other than an arc as long as the curved portion is such that the change in centrifugal force acting on the conveying case 7 is gradual when moving from a straight portion to a curved portion and when moving along the curved portion.

[0023] The main transport path 110 is formed in a loop shape (small loop) by connecting a first straight portion 111, a first curved portion 113, a second straight portion 112, and a second curved portion 114 in this order.

[0024] On the main conveying path 110, the conveying case 7 is conveyed by a main conveying mechanism 210 (described later) of the conveying mechanism 200. On the main conveying path 110, the conveying case 7 is conveyed through a first straight portion 111, a first curved portion 113, a second straight portion 112, and a second curved portion 114 in this order.

[0025] The transport case 7 is transported in a clockwise transport direction Tr1 on the main transport path 110. The main transport path 110 has a junction 115 and a branching portion 116. The junction 115 is disposed at the downstream end of the first straight portion 111 in the transport direction Tr1. At the junction 115, a junction transport path 120 merges with the main transport path 110.

[0026] The branching section 116 is disposed at the downstream end of the second straight section 112 in the conveying direction Tr1. At the branching section 116, the branch conveying path 130 branches off from the main conveying path 110. A run-up region 117 is provided at the downstream end of the second straight section 112 in the conveying direction Tr1. The run-up region 117 is a region where the main conveying path 110 and the branch conveying path 130 overlap.

[0027] A guide portion 118 is disposed outside the main transport path 110. The guide portion 118 is a plate member disposed along the main transport path 110. When the transport case 7 is transported inside the main transport path 110, the transport case 7 comes into contact with the guide portion 118 and is guided thereby.

[0028] In addition, in the main conveying path 110, the guide portion 118 may be configured to come into contact with the conveying case 7 only when the position or angle of the conveying case 7 in a direction perpendicular to the conveying direction is about to shift, or when the main conveying mechanism 210 cannot fully support the centrifugal force acting on the conveying case 7.

[0029] The guide section 118 is preferably formed of a material that has low friction with the transport case 7 and low wear when the transport case 7 comes into contact with it. However, the present invention is not limited to this, and a wide variety of configurations can be used that have low friction with the transport case 7 by adjusting the position in the direction perpendicular to the transport direction of the transport case 7, such as rotatable rollers arranged in a line along the main transport path 110.

[0030] In this embodiment, the guide portion 118 is provided only on the outside of the main transport path 110. Without being limited to this, the guide portion 118 may also be provided inside the main transport path 110 .

[0031] The main transport mechanism 210 transports the transport case 7 while holding the downstream (hereinafter sometimes referred to as the front side) and upstream (hereinafter sometimes referred to as the rear side) faces of the transport case 7 in the transport direction Tr1. A bottom surface guide unit 119 that supports the bottom surface of the transport case 7 is disposed on the main transport path 110.

[0032] The lower surface guide section 119 may be, for example, two rail-like members extending in parallel along the main transport path 110, but is not limited to this. For example, it may be configured with rollers laid out in the transport direction, or may be a plate-like member formed of a material with a small coefficient of friction with the transport case 7. The lower surface guide section 119 supports the transport case 7 from below, and a wide variety of structures that are unlikely to cause resistance to transport by the main transport mechanism 210 can be used.

[0033] In addition, if the main transport mechanism 210 is configured to hold the transport cases 7 so that they do not fall downward, the bottom guide section 119 may be omitted. In addition, in the main transport path 110, a transport mechanism such as a top chain conveyor that moves the transport cases 7 in the transport direction while supporting them from below may be disposed near the junction 115 and the branching section 116. In the main transport path 110, the bottom guide section 119 is omitted in the portion where the transport mechanism that transports the transport cases while supporting them from below is disposed.

[0034] 1, a first working unit St1 is disposed upstream in the conveying direction Tr1 of the second straight section 112 of the main conveying path 110. The first working unit St1 performs, for example, a task of placing a container Cv in a conveying case 7. However, this is not limited thereto, and the first working unit St1 may perform a task other than placing the container Cv, or may perform another task in addition to the task of placing the container Cv.

[0035] <Merge conveyor route 120> The junction conveying path 120 extends along the first straight portion 111 of the main conveying path 110. In the conveying path 100, the junction conveying path 120 is straight, but is not limited to this and may have at least a curved portion. In the junction conveying path 120, the conveying case 7 is conveyed by a junction conveying mechanism 220 of the conveying mechanism 200, which will be described later.

[0036] A junction guide section 121 is disposed on the junction conveying path 120. In the junction conveying path 120, the junction guide section 121 is disposed parallel to the guide section 118 extending along the first straight section 111. The junction guide section 121 has a similar configuration to the guide section 118. As with the guide section 118, it is also possible to adopt an alternative configuration.

[0037] In the junction conveying path 120, the conveying case 7 is conveyed by the junction conveying mechanism 220 while being guided by the junction guide section 121 and the guide section 118. A sending device 300 is disposed at the downstream end of the junction conveying path 120 in the conveying direction. The sending device 300 sends out the conveying case 7 conveyed from the junction conveying path 120 to the main conveying path 110 at a predetermined timing. The detailed configuration and operation of the sending device 300 will be described later.

[0038] <Branched conveying path 130> 1, the branching portion 116 is provided at the downstream end of the second straight portion 112 in the conveying direction Tr1. The branching conveying path 130 extends from the branching portion 116 in a direction extending from the downstream end of the second straight portion 112 in the conveying direction Tr1 of the second straight portion 112. In the conveying path 100, the branching conveying path 130 is linear, but is not limited to this, and may have at least a curved portion. In the branching conveying path 130, the conveying case 7 is conveyed by a branching conveying mechanism 230 of the conveying mechanism 200, which will be described later.

[0039] A branch guide section 131 is disposed on the branch conveying path 130. The branch guide sections 131 are disposed adjacent to each other in a direction intersecting the conveying direction Tr1 of the branch conveying mechanism 230. That is, the branch guide sections 131 are disposed in pairs with the branch conveying mechanism 230 in between. The branch guide sections 131 have a similar configuration to the guide section 118. As with the guide section 118, the branch guide sections 131 can also adopt an alternative configuration.

[0040] In the branched conveying path 130, the outer branched guide portion 131 is continuous with the guide portion 118 of the second straight portion 112. Moreover, the inner branched guide portion 131 is continuous with the guide portion 118 of the second curved portion 114.

[0041] <Curved conveyor path 140> In the conveying path 100 shown in FIG. 1, the downstream of the branch conveying path 130 in the conveying direction is connected to the curved conveying path 140. The curved conveying path 140 merges with the merging conveying path 120. The curved conveying path 140 is arc-shaped in a plan view. The curved conveying path 140 is provided with a second working unit St2 that performs a predetermined operation on the conveying case 7, in this case, the container Cv placed in the conveying case 7. After the predetermined operation in the second working unit St2, the conveying case 7 is conveyed to the merging conveying path 120. The downstream end of the curved conveying path 140 in the conveying direction Tr1 is connected to the upstream end of the merging conveying path 120 in the conveying direction Tr1.

[0042] <Control unit 400> Next, the control unit 400 that controls the conveying device A will be described. As shown in Fig. 2, the control unit 400 has a processing circuit 401 and a memory circuit 402. The processing circuit 401 is a circuit that processes various information, and has arithmetic circuits such as a CPU and an MPU. The processing circuit 401 also controls the conveying device A based on the processing results.

[0043] The storage circuitry 402 includes a semiconductor memory such as a ROM or a RAM, a portable memory such as a flash memory, and a storage medium such as a hard disk, or is a circuit to which a storage medium is connected. The storage circuitry 402 may store various programs such as a control program or a processing program, and may call up a program corresponding to a process as necessary and cause the processing circuitry 401 to operate the program to perform the process.

[0044] The control unit 400 is connected to a linear motor driver 43, main conveying conveyor 211 and monitoring unit 212 of the main conveying mechanism 210, a junction conveyor 221 of the junction conveying mechanism 220, a branch conveyor 231 and status detection unit 232 of the branch conveying mechanism 230, a first drive unit 53 and a second drive unit 54 of the discharge unit 310 of the send-out device 300, and a lateral movement unit 611 and an upward movement unit 612 of the feed unit 320.

[0045] <Transport mechanism 200> Next, the transport mechanism 200 that transports the transport case 7 will be described in detail.

[0046] As shown in FIG. 1 and FIG. 2, the conveying mechanism 200 has a main conveying mechanism 210, a junction conveying mechanism 220, and a branch conveying mechanism 230. The main conveying mechanism 210 is disposed on the main conveying path 110 and conveys the conveying case 7 in the main conveying path 110. The junction conveying mechanism 220 is disposed on the junction conveying path 120 and conveys the conveying case 7 in the junction conveying path 120. The branch conveying mechanism 230 is disposed from the run-up region 117 of the main conveying path 110 to the branch conveying path 130. The upstream end of the branch conveying mechanism 230 is the start portion of the run-up region 117. The branch conveying mechanism 230 conveys the conveying case 7 in the run-up region 117 and the branch conveying path 130.

[0047] In the approach region 117, the main conveying mechanism 210 and the branching conveying mechanism 230 can apply to one conveying case 7 a force toward the main conveying path 110 (the second curved portion 114 thereof) and a force toward the branching conveying path 130, respectively. The conveying case 7 is sent to either the branching conveying path 130 or the main conveying path 110 (the second curved portion 114 thereof) at the branching section 116 by the operation of the main conveying mechanism 210. Note that in a portion of the upstream side of the approach region 117, the conveying direction of the main conveying mechanism 210 and the conveying direction of the branching conveying mechanism 230 are the same. Details of switching the movement of the conveying case 7 at the branching section 116 will be described later.

[0048] <Main transport mechanism 210> The main transport mechanism 210 will be described in detail with reference to the drawings. FIG. 3 is a plan view of the first and second shuttles 1 and 2 holding the transport case 7 moving along the linear rail 3a. FIG. 4 is a plan view of the first and second shuttles 1 and 2 holding the transport case 7 moving along the curved rail 3b. FIG. 5 is a view of the first and second shuttles 1 and 2 shown in FIG. 3 as seen from the outside. FIG. 6 is a view of the first shuttle 1 as seen from the upstream side in the transport direction Tr1. FIG. 7 is a view of the second shuttle 2 as seen from the upstream side in the transport direction Tr1. As shown in FIGS. 1 to 7, the main transport mechanism 210 has the first shuttle 1, the second shuttle 2, the rail 3, and a linear drive unit 4.

[0049] <Rail 3> The rails 3 guide the movement of the first holding shuttle 1 and the second holding shuttle 2. As shown in Figures 1, 3 and 4, the main transport mechanism 210 has a straight rail 3a and a curved rail 3b as the rails 3. The straight rail 3a and the curved rail 3b differ in that they are straight or curved in plan view, but otherwise have substantially the same configuration.

[0050] Therefore, in the following description, when no distinction is necessary, the straight rail 3a and the curved rail 3b will be described as the rail 3. As shown in Figures 3 to 7, the rail 3 has a main rail portion 31, a grooved rail portion 32, and a flat rail portion 33.

[0051] The main rail section 31 is a cylinder having a rectangular cross section cut along a plane perpendicular to the conveying direction Tr1. The cross-sectional shape of the main rail section 31 has a longitudinal direction in the up-down direction. A coil 41 of the linear drive section 4 is disposed inside the main rail section 31. The main rail section 31 is made of a material through which the magnetic force from the coil 41 can pass when the coil 41 is excited by passing a current through it. Examples of such materials include, but are not limited to, some stainless steels, aluminum and alloys thereof.

[0052] The grooved rail portion 32 is fixed to the upper part of the main rail portion 31. The main rail portion 31 and the grooved rail portion 32 can be fixed by welding, screwing, etc., but are not limited thereto. The main rail portion 31 and the grooved rail portion 32 may be integrally formed. The grooved rail portion 32 has a groove portion 321 having a concave shape recessed from the outer surface in a direction intersecting with the conveying direction Tr1. The groove portion 321 is formed over the entire circumference of the rail 3. The grooved rail portion 32 has two groove portions 321. The two groove portions 321 are arranged vertically. The two groove portions 321 accommodate the upper roller 14 of the first holding shuttle 1, which will be described later, and the upper roller 24 of the second holding shuttle 2, which will be described later. The upper roller 14 and the upper roller 24 move along the groove portion 321.

[0053] The flat rail portion 33 is fixed to the lower part of the main rail portion 31. The main rail portion 31 and the flat rail portion 33 can be fixed to each other by welding, screwing, or the like, but are not limited thereto. The main rail portion 31 and the flat rail portion 33 may be integrally formed. The flat rail portion 33 has a shape in which the outer side of a cross section cut along a plane intersecting with the conveying direction Tr1 is along a vertical line (see FIG. 6, FIG. 7, etc.). The outer surface of the flat rail portion 33 is in contact with a lower roller 15 of the first holding shuttle 1, which will be described later, and a lower roller 25 of the second holding shuttle 2, which will be described later. The lower roller 15 and the lower roller 25 rotate while contacting the outer surface of the flat rail portion 33.

[0054] The straight rail 3a is disposed inside the first straight portion 111 and the second straight portion 112 of the main transport path 110. The curved rail 3b is disposed inside the first curved portion 113 and the second curved portion 114 of the main transport path 110. The straight rail 3a of the first straight portion 111, the curved rail 3b of the first curved portion 113, the curved rail 3a of the second straight portion 112, and the curved rail 3b of the second curved portion 114 are connected together, and further the curved rail 3b of the second curved portion 114 is connected to the rail 3a of the first straight portion 111 to form a loop.

[0055] <First holding shuttle 1> The first hold shuttle 1 is disposed on the outer surface of the rail 3 and is movable along the rail 3. As shown in FIGS. 3 to 6, the first hold shuttle 1 has a main body 11, a first surface pressing arm 12, a first claw arm 13, an upper roller 14, and a lower roller 15.

[0056] A magnet 42 (described later) of the linear drive unit 4 is disposed on the main body 11. The main body 11 is disposed outward of the rail 3 and facing the rail 3. The first surface pressing arm 12 protrudes outward from the main body 11. When the first holding shuttle 1 is attached to the rail 3, the first surface pressing arm 12 forms a certain angle with respect to the conveying direction Tr1 (here, perpendicular).

[0057] 3, 5 and 6, the first surface pressing arm 12 protrudes outward from the main body 11. The first surface pressing arm 12 comes into surface contact with the rear surface of the transport case 7 in the transport direction Tr1, and presses the rear surface. Note that a non-slip surface may be attached to at least the portion of the first surface pressing arm 12 that comes into contact with the transport case 7.

[0058] The first claw arm 13 protrudes from the main body 11 in the same direction as the first surface pressing arm 12. As shown in Figures 5 and 6, the first claw arm 13 is disposed above the first surface pressing arm 12 with a gap therebetween. The first claw arm 13 has a first claw portion 16. The first claw portion 16 protrudes from the outer tip of the first claw arm 13 forward in the conveying direction Tr1.

[0059] The first holding shuttle 1 has two upper rollers 14 rotatably supported at its upper portion. The two upper rollers 14 are spaced apart in the conveying direction and arranged at different positions in the vertical direction. The radial outer edge of the upper rollers 14 fits into the groove portion 321 of the grooved rail portion 32.

[0060] The upper roller 14 rotates while being fitted in the groove portion 321. This prevents the first hold shuttle 1 from shifting in the up and down direction when the first hold shuttle 1 moves along the rail 3. In other words, the first hold shuttle 1 moves accurately along the rail 3.

[0061] The first holding shuttle 1 has two rotatably supported lower rollers 15 at its lower part. The two lower rollers 15 are spaced apart in the conveying direction and arranged at different positions in the vertical direction. The lower rollers 15 are cylindrical, and the outer peripheral surface of the lower roller 15 contacts the outer surface of the flat rail portion 33.

[0062] The first holding shuttle 1 is attracted to the outer surface of the rail 3 by the magnetic force of a magnet 42 arranged inside. The rail 3 may be provided with an attraction portion made of a metal such as iron that attracts the magnet, or the first holding shuttle 1 may be attracted by the magnetic force between the magnet 42 and an iron core provided in the coil 41. The first holding shuttle 1 is movable along the rail 3, and may be attached to the rail 3 by a hook or the like so as not to easily fall off the rail 3.

[0063] The first holding shuttle 1 is attached so as to be movable along the rail 3 while being kept at a fixed distance from the rail 3 by an upper roller 14 and a lower roller 15 .

[0064] <Second holding shuttle 2> The second holding shuttle 2 is disposed on the outer surface of the rail 3 and is movable along the rail 3. As shown in Figures 3, 5 and 7, the second holding shuttle 2 has a main body 21, a second surface pressing arm 22, a second claw arm 23, an upper roller 24, and a lower roller 25.

[0065] A magnet 42 (described later) of the linear drive unit 4 is disposed on the main body 21. The main body 21 is disposed outward of the rail 3 and facing the rail 3. The second surface pressing arm 22 protrudes outward from the main body 21. When the second holding shuttle 2 is attached to the rail 3, the second surface pressing arm 22 forms a certain angle with respect to the conveying direction Tr1 (here, perpendicular).

[0066] 3, 5 and 7, the second surface pressing arm 22 protrudes outward from the main body 21. The second surface pressing arm 22 comes into surface contact with the front surface of the transport case 7 in the transport direction Tr1, and presses the front surface. Note that a non-slip member may be attached to at least the portion of the second surface pressing arm 22 that comes into contact with the transport case 7.

[0067] The second claw arm 23 protrudes from the main body 11 in the same direction as the second surface pressing arm 22. As shown in Fig. 5 and Fig. 7, the second claw arm 23 is disposed above the second surface pressing arm 22 with a gap therebetween. The second claw arm 23 has a second claw portion 26. The second claw portion 26 protrudes from the outer tip of the second claw arm 23 rearward in the conveying direction Tr1.

[0068] The second holding shuttle 2 has two upper rollers 24 rotatably supported at its upper portion. The two upper rollers 24 are spaced apart in the conveying direction and arranged at different positions in the vertical direction. The radial outer edge of the upper rollers 24 fits into the groove portion 321 of the grooved rail portion 32.

[0069] The upper roller 24 rotates while being fitted in the groove portion 321. This prevents the second hold shuttle 2 from shifting in the up and down direction when the second hold shuttle 2 moves along the rail 3. In other words, the second hold shuttle 2 moves accurately along the rail 3.

[0070] The second holding shuttle 2 has two rotatably supported lower rollers 25 at its lower part. The two lower rollers 25 are spaced apart in the conveying direction and arranged at different positions in the vertical direction. The lower rollers 25 are cylindrical, and the outer peripheral surface of the lower roller 25 contacts the outer surface of the flat rail portion 33.

[0071] The second holding shuttle 2 is attracted to the outer surface of the rail 3 by the magnetic force of a magnet 42 arranged inside. The rail 3 may be provided with an attraction portion made of a metal such as iron that attracts the magnet, or the second holding shuttle 2 may be attracted by the magnetic force between the magnet 42 and an iron core provided in the coil 41. The second holding shuttle 2 is movable along the rail 3, and may be attached to the rail 3 by a hook or the like so as not to easily fall off the rail 3.

[0072] The second holding shuttle 2 is attached so as to be movable along the rail 3 while being kept at a fixed distance from the rail 3 by an upper roller 24 and a lower roller 25 .

[0073] <Linear drive unit 4> The linear drive unit 4 will be described with reference to the drawings. The linear drive unit 4 employs a linear motor mechanism. The linear drive unit 4 is capable of driving each of the first holding shuttles 1 and each of the second holding shuttles 2 independently.

[0074] The linear driving unit 4 has a plurality of coils 41, a magnet 42, and a linear motor driver 43 (see FIG. 2). The plurality of coils 41 are arranged inside and along the rail 3.

[0075] The magnet 42 is a permanent magnet and is disposed inside the main body 11 of the first holding shuttle 1 and the main body 21 of the second holding shuttle 2. A linear motor is formed by the magnet 42 disposed in the main body 11 of the first holding shuttle 1 and the multiple coils 41 disposed inside the rail 3. In addition, a linear motor is also formed by the magnet 42 disposed in the main body 21 of the second holding shuttle 2 and the multiple coils 41 disposed inside the rail 3. In other words, the main transport mechanism 210 is a linear motor transport mechanism that uses a linear motor.

[0076] The linear motor driver 43 is connected to the control unit 400. The linear motor driver 43 is also connected to a power supply circuit (not shown). The linear motor driver 43 supplies power from the power supply circuit to a specified coil 41 based on an instruction from the control unit 400. The linear motor driver 43 may include a circuit such as a power supply circuit that adjusts the voltage and current supplied to each coil 41.

[0077] By sequentially switching the coils 41 that supply current, the coils 41 and magnets 42 operate as a linear motor, and the first holding shuttle 1 and the second holding shuttle 2 move along the rail 3. The control unit 400 controls the movements of the first holding shuttle 1 and the second holding shuttle 2 independently.

[0078] Further, the main transport mechanism 210 has a main transport conveyor 211 disposed at the junction 115 in addition to the linear drive unit 4. The main transport conveyor 211 is disposed to assist the movement of the transport case 7 from the junction transport path 120.

[0079] The main transport mechanism 210 has a monitoring unit 212 connected to the control unit 400. The monitoring unit 212 monitors the first holding shuttle 1 and the second holding shuttle 2 passing through an adjustment standby position Sp1 upstream of the main transport conveyor 211 in the transport direction Tr1. The monitoring unit 212 checks whether the first holding shuttle 1 and the second holding shuttle 2 have passed and whether they are holding a transport case 7. Then, the monitoring unit 212 sends the result to the control unit 400 as monitoring information.

[0080] <Converging Conveyor Mechanism 220 and Diverging Conveyor Mechanism 230> The merging conveyor mechanism 220 has a merging conveyor 221. The merging conveyor 221 is arranged along the merging conveyor path 120. The merging conveyor 221 can place a conveying case 7 on its upper portion, and conveys the conveying case 7 placed on its upper portion in the conveying direction Tr1 along the merging conveyor path 120. The merging conveyor 221 is controlled by the control unit 400 (see FIG. 2). Note that the control of the merging conveyor 221 by the control unit 400 can include, for example, the start and stop of conveying the conveying case 7 by the merging conveyor 221, and the conveying speed, but is not limited thereto, and other controls may be performed.

[0081] The branch conveying mechanism 230 has a branch conveyor 231. The branch conveyor 231 is disposed in the run-up area 117 and is disposed along the branch conveying path 130. The branch conveyor 231 is capable of placing a conveying case 7 on its upper portion, and conveys the conveying case 7 placed on its upper portion in the conveying direction Tr1 along the branch conveying path 130. The branch conveyor 231 is controlled by the control unit 400 (see FIG. 2).

[0082] The branching conveying mechanism 230 also has a status detection unit 232. The status detection unit 232 is disposed upstream of the approach area 117 of the second straight section 112 of the main conveying path 110 in the conveying direction Tr1. The status detection unit 232 monitors the conveying case 7 that reaches the approach area 117, acquires the status of the conveying case 7, and sends it as detection information to the control unit 400 (see FIG. 2). Based on the detection information, the control unit 400 determines whether to send the conveying case 7 to the branching conveying path 130 or to the second curved section 114 of the main conveying path 110. Details of the branching of the conveying of the conveying case 7 will be described later.

[0083] <Sending device 300> Next, details of the sending-out device 300 will be described with reference to the drawings. Fig. 8 is an enlarged plan view of the sending-out device 300. Fig. 9 is a perspective view of the discharge section 310 provided in the sending-out device 300.

[0084] 1 and other drawings, the sending device 300 is connected to a downstream end in the conveying direction of the merging conveying path 120. The sending device 300 sends out the conveying case 7 conveyed on the merging conveying path 120 to the merging section 115 and conveys it to the main conveying path 110. The sending device 300 has an unloading section 310 and a sending section 320.

[0085] <Exit section 310> The unloading unit 310 stops the transport case 7 transported downstream in the transport direction Tr1 of the merging transport path 120 at the downstream end of the merging transport path 120, and sends out the transport case 7 that has been stopped at a timing that does not interfere with the transport case 7 being transported to the main transport path 110. Note that sending out refers to the operation of pushing out the transport case 7 in the transport direction Tr1. The unloading unit 310 has a first star wheel 51 and a second star wheel 52, a first drive unit 53 and a second drive unit 54.

[0086] <First Star Wheel 51 and Second Star Wheel 52> In the discharge section 310, the first star wheel 51 and the second star wheel 52 are arranged vertically so as to be independently rotatable with their central axes aligned. As shown in FIG. 9, the first star wheel 51 is arranged above the second star wheel 52. The first star wheel 51 and the second star wheel 52 have the same configuration. Therefore, the first star wheel 51 will be referred to as a representative example. In addition, the second star wheel 52 will be described in terms of its correspondence with the first star wheel 51.

[0087] 9, the first star wheel 51 has a main body 511 and three engaging protrusions 512. The main body 511 is disk-shaped in a plan view. Note that the main body 511 is not limited to being disk-shaped, but is preferably disk-shaped in order to rotate the first star wheel 51 smoothly.

[0088] The three engaging protrusions 512 extend radially outward from the radial outer edge of the main body 511. The three engaging protrusions 512 are arranged at equal intervals in the circumferential direction. The three engaging protrusions 512 each have the same shape. The engaging protrusions 512 engage with the side surface of the transport case 7, and temporarily stop the transport case 7 transported to the downstream end of the junction transport path 120.

[0089] Here, the transport case 7 will be described. The transport case 7 is transported through the main transport path 110, the junction transport path 120, the branch transport path 130, and the curved transport path 140. The transport case 7 is a box having an opening 70 at the top. The transport case 7 has an outer surface 71, a rear corner 72, a front corner 73, a rear surface 74, and a front surface 75.

[0090] The outer surface 71 is a flat surface facing outward, and faces outward in a direction intersecting the conveying direction Tr1. The rear surface 74 is a rear surface in the conveying direction Tr1. The front surface 75 is a front surface in the conveying direction Tr1.

[0091] Rear corner 72 is disposed between outer surface 71 and rear surface 74. Front corner 73 is disposed between outer surface 71 and front surface 75. Rear surface 74 has recess 741 in the shape of a through hole. Front surface 75 has recess 751 in the shape of a through hole. Note that recess 741 and recess 751 do not have to be in the shape of a through hole.

[0092] The engaging protrusions 512 engage with rear corners 72 and front corners 73 of the transport case 7. Since the transport case 7 has corners 72 and 73, the engaging protrusions 512 can engage with the transport case 7 smoothly and reliably.

[0093] As shown in Figures 8 and 9, the engagement protrusion 512 has a locking protrusion 513 and an extrusion protrusion 514. The first star wheel 51 rotates in a rotational direction Rt1 that is a counterclockwise direction in a plan view. The locking protrusion 513 protrudes radially outward from a front end of the radial outer edge of the engagement protrusion 512 in the rotational direction Rt1. The extrusion protrusion 514 protrudes radially outward from a rear end of the radial outer edge of the engagement protrusion 512 in the rotational direction Rt1.

[0094] In the discharge section 310, the radially outer end of the engaging protrusion 512 of the first star wheel 51 is disposed inside the merging conveying path 120 so as to engage with the corners 72 and 73 of the conveying case 7 conveyed to the merging conveying path 120. More specifically, the locking protrusion 513 and the pushing protrusion 514 of the engaging protrusion 512 of the first star wheel 51 come into contact with the front corner 73 and the rear corner 72 of the conveying case 7.

[0095] The locking protrusion 513 comes into contact with the front corner 73 when the conveying case 7 is conveyed by the merging conveyor 221. The locking protrusion 513 is then pressed by the front corner 73 as the conveying case 7 is conveyed. This causes the first star wheel 51 to rotate in the rotation direction Rt1. When the conveying case 7 moves to the merging standby position Jp1 (see FIG. 1) of the merging conveying path 120, the locking protrusion 513 of the first star wheel 51 presses against the front corner 73 of the conveying case 7, restricting the movement of the conveying case 7 in the conveying direction. This causes the conveying case 7 to be temporarily stopped at the merging standby position Jp1.

[0096] When the transport case 7 is temporarily stopped at the junction waiting position Jp1, the pushing protrusion 514 comes into contact with the rear corner 72. Then, as the first star wheel 51 rotates from this state in the rotation direction Rt1, the pushing protrusion 514 pushes the rear corner 72 downstream in the transport direction Tr1. As a result, the transport case 7 is sent out toward the downstream side in the transport direction Tr1.

[0097] The first star wheel 51 has the configuration described above. The second star wheel 52 has a main body portion 521 and an engaging protrusion portion 522. The main body portion 521 corresponds to the main body portion 511 of the first star wheel 51, and the engaging protrusion portion 522 corresponds to the engaging protrusion portion 512. In addition, the locking protrusion portion 523 and the extrusion protrusion portion 524 of the engaging protrusion portion 522 correspond to the locking protrusion portion 513 and the extrusion protrusion portion 514 of the engaging protrusion portion 512, respectively.

[0098] The first star wheel 51 and the second star wheel 52 are arranged vertically so that their central axes coincide with each other. In plan view, the engagement protrusion 512 of the first star wheel 51 and the engagement protrusion 522 of the second star wheel 52 are arranged so as to be misaligned in the circumferential direction.

[0099] <First Driving Unit 53 and Second Driving Unit 54> The first driving section 53 and the second driving section 54 are connected to the control section 400, and operate based on instructions from the control section 400. The first driving section 53 and the second driving section 54 have the same configuration.

[0100] The first drive unit 53 is a power source that rotates the first star wheel 51. Note that the first drive unit 53 may be, for example, a configuration including an electric motor, but is not limited thereto, and any configuration that can rotate the first star wheel 51 and the second star wheel 52 may be widely adopted. As shown in FIG. 9, in the discharge unit 310, the first drive unit 53 is disposed above the first star wheel 51.

[0101] The second driving unit 54 is a power source that rotates the second star wheel 52. Like the first driving unit 53, the second driving unit 54 may include an electric motor, or may have a configuration other than this that can rotate the second star wheel 52. As shown in FIG. 9, in the discharge unit 310, the second driving unit 54 is disposed below the second star wheel 52.

[0102] Although not shown, the first driving unit 53 and the second driving unit 54 each have an output shaft. The first driving unit 53 and the second driving unit 54 are arranged so that the centers of the output shafts coincide with each other. In other words, the first driving unit 53, the first star wheel 51, the second star wheel 52, and the second driving unit 54 are arranged from the top in this order so that their centers are aligned on the same line.

[0103] When the first star wheel 51 temporarily stops the transport case 7, the first drive unit 53 and the second drive unit 54 may operate as brakes that limit the rotation of the first star wheel 51 and the rotation of the second star wheel 52, respectively. Note that a brake mechanism may be provided separately to stop the first star wheel 51 and the second star wheel 52 independently.

[0104] In this embodiment, the first drive unit 53 and the second drive unit 54 are configured to rotate the first star wheel 51 and the second star wheel 52, respectively, but are not limited to this. For example, if the first star wheel 51 and the second star wheel 52 can be driven synchronously using a power transmission mechanism using gears, belts, chains, etc., the power sources may be combined into one. The discharge unit 310 has the above-described configuration. The transport case 7 sent out by the discharge unit 310 is sent to the main transport path 110 by the sending unit 320.

[0105] <Feeding section 320> Next, details of the sending section 320 will be described with reference to the drawings. Fig. 10 is a perspective view of the sending section 320 provided in the sending device 300, seen from below. Note that the main transport conveyor 211 and the merging conveyor 221 are omitted from Fig. 10. As shown in Fig. 10, the sending section 320 has a sending-out moving section 61 and a contact section 62. The sending-out moving section 61 has a lateral moving section 611 and an upward moving section 612. The contact section 62 has a first contact section 621 and a second contact section 622.

[0106] As shown in Figs. 8 and 10, the lateral movement section 611 is disposed outward of the main conveying path 110. The lateral movement section 611 is, for example, a linear top chain conveyor having a vertically erected belt surface 6111. The belt surface of the lateral movement section 611 is perpendicular to the belt surface above the merging conveyor 221. The upstream portion of the lateral movement section 611 in the conveying direction Tr1 is disposed above the merging conveying path 120, and approaches the main conveying path 110 toward the downstream side. Note that, although a belt conveyor is given as an example of the lateral movement section 611, it is not limited thereto.

[0107] The upward movement section 612 is disposed above the upper surface of the transport case 7. The upward movement section 612 is, for example, a linear belt conveyor having upper and lower belt surfaces 6121. The lower belt surface of the upward movement section 612 faces the merging conveyor 221 in the vertical direction. The upstream side of the upward movement section 612 in the transport direction Tr1 overlaps with the merging transport path 120 in the vertical direction, and approaches the main transport path 110 toward the downstream side. Note that, although a belt conveyor is given as an example of the upward movement section 612, the upward movement section 612 is not limited to this.

[0108] The first contact portion 621 is fixed to the belt surface 6111 of the lateral movement portion 611. The first contact portion 621 has a triangular prism shape in a plan view. When the first contact portion 621 is attached to the belt surface 6111, the first contact portion 621 has a first contact surface 623 that comes into contact with the outer surface 71 of the transport case 7. The first contact surface 623 is a vertical surface, and the normal line of the first contact surface 623 is perpendicular to the transport direction Tr1. In other words, the first contact surface 623 is inclined with respect to the belt surface 6111 of the lateral movement portion 611.

[0109] Further, a second contact portion 622 is fixed to the belt surface 6121 of the upward moving portion 612. The second contact portion 622 has a rectangular parallelepiped shape. When the first contact portion 621 is attached to the belt surface 6121, the second contact portion 622 has a second contact surface 624 that comes into contact with the rear surface 74 of the transport case 7. The second contact surface 624 is a vertical surface, and the normal line is parallel to the transport direction Tr1. In other words, the normal line of the second contact surface 624 is inclined with respect to the moving direction of the belt surface 6121 of the upward moving portion 612.

[0110] Both the lateral movement unit 611 and the upward movement unit 612 are controlled by the control unit 400. Examples of the control of the lateral movement unit 611 and the upward movement unit 612 by the control unit 400 include, but are not limited to, starting, stopping, and adjusting the speed of the operation of the lateral movement unit 611 and the upward movement unit 612.

[0111] The transport device A for transporting objects has the above-described configuration. Next, a description will be given of the operation of the transport device A for transporting objects. First, the operations of the main transport mechanism 210, the junction transport mechanism 220, and the branch transport mechanism 230 on the main transport path 110 will be described.

[0112] <Transportation operation> The first holding shuttle 1 and the second holding shuttle 2 of the main transport mechanism 210 are used to apply a force to move the transport case 7 in the transport direction Tr1 and to stabilize the attitude of the transport case 7.

[0113] As shown in Figures 1, 3 to 5, etc., the first holding shuttle 1 holds the rear surface 74 of the transport case 7. The second holding shuttle 2 holds the front surface 75 of the transport case 7. When the transport case 7 is transported along either the first straight section 111 or the second straight section 112 of the main transport path 110, the first surface pushing arm 12 of the first holding shuttle 1 comes into contact with the rear surface 74 of the transport case 7, and the second surface pushing arm 22 of the second holding shuttle 2 comes into contact with the front surface 75 of the transport case 7. In this way, the first holding shuttle 1 and the second holding shuttle 2 hold the transport case 7.

[0114] When the first holding shuttle 1 and the second holding shuttle 2 transport the transport case 7 in the first straight section 111 or the second straight section 112, the first surface pushing arm 12 and the second surface pushing arm 22 hold the rear surface and the front surface of the transport case 7 in the transport direction Tr1. At this time, the first claw portion 16 of the first claw arm 13 and the second claw portion 26 of the second claw arm 23 are respectively positioned inside the recesses 741 and 751 of the transport case 7 (see FIG. 3). Note that when the transport case 7 is transported along the straight sections, the first claw portion 16 and the second claw portion 26 do not engage with the recesses 741 and 751, respectively.

[0115] When the transport case 7 is transported along either the first curved section 113 or the second curved section 114 of the main transport path 110, as shown in Figure 4, the first claw portion 16 of the first claw arm 13 of the first holding shuttle 1 engages with a recess 741 of the transport case 7, and the second claw portion 26 of the second claw arm 23 of the second holding shuttle 2 engages with a recess 751 of the transport case 7.

[0116] As shown in Figs. 1, 3, etc., the transport case 7 held by the first holding shuttle 1 and the second holding shuttle 2 is transported along the linear rail 3a while maintaining a constant posture with respect to the transport direction Tr1. For example, as shown in Fig. 3, in the transport case 7 moving along the linear rail 3a, the outer surface 71 faces outward in a direction intersecting with the transport direction Tr1. The rear surface 74 and the front surface 75 are perpendicular to the transport direction Tr1. The posture of the transport case 7 when moving along the linear rail 3a while being held by the first holding shuttle 1 and the second holding shuttle 2 in this manner is referred to as the reference posture Gs (see Figs. 1, 3, etc.).

[0117] When the transport case 7 moves along the curved section, the first claw portion 16 and the second claw portion 26 engage with the recessed portion 741 and the recessed portion 751, so that part of the centrifugal force is supported by the first holding shuttle 1 and the second holding shuttle 2. Also, in the main transport path 110, a guide portion 118 is provided on the outside. Therefore, the centrifugal force of the transport case 7 is also supported by the guide portion 118. As a result, the first holding shuttle 1 and the second holding shuttle 2 are prevented from falling off the rail 3 due to the centrifugal force of the transport case 7.

[0118] When the first holding shuttle 1 and the second holding shuttle 2 hold and transport the transport case 7 in the curved section, at least a part of the first surface pushing arm 12 comes into contact with the rear surface 74 of the transport case 7. Therefore, when transporting the transport case 7 in the curved section, the rear surface 74 of the transport case 7 is pushed by the first surface pushing arm 12 and transported.

[0119] <Regarding the junction of the transport cases 7 at the junction 115> The transport cases 7 transported on the junction transport path 120 are temporarily stopped at the junction standby position Jp1 by the discharge section 310, and then sent out one by one by the discharge section 310. The sent out transport cases 7 are then moved in the transport direction Tr1 by the pushing force from the discharge section 310 and the junction conveyor 221, and sent to the sending section 320. First, the operation of the discharge section 310 will be described, and then the operation of the sending section 320 will be described.

[0120] <Operation of the Unloading Unit 310> The sending out of the transport case 7 by the above-mentioned discharge section 310 will be described with reference to the drawings. Fig. 11 is a plan view showing a state in which the first star wheel 51 holds the transport case 7 on the most downstream side in the transport direction at time T1. Fig. 12 is a plan view showing the position of the second star wheel 52 at time T1. Fig. 13 is a plan view showing a state in which the first star wheel 51 has sent out the transport case 7 at time T2. Fig. 14 is a plan view showing the position of the second star wheel 52 at time T2.

[0121] Fig. 15 is a plan view showing a state in which the second star wheel 52 holds the transport case 7 furthest downstream in the transport direction at time T3. Fig. 16 is a plan view showing the position of the first star wheel 51 at time T3. In Figs. 11 to 16, the second star wheel 52 is hatched with dots to make it easy to distinguish it from the first star wheel 51. Also, in Figs. 11 to 16, the first star wheel 51 and the second star wheel 52 are shown separately, but in reality, they operate in a vertically overlapping state as shown in Fig. 9 etc.

[0122] 11, at time T1, corners 72 and 73 of the transport case 7 engage with the engaging protrusion 512 of the first star wheel 51. As a result, the transport case 7 is temporarily stopped at the junction waiting position Jp1. At this time, the first drive unit 53 applies a force to the first star wheel 51 so that the first star wheel 51 limits the movement of the transport case 7. Furthermore, upstream of the junction waiting position Jp1 in the transport direction Tr1, multiple transport cases 7 are stopped in a state of contact with each other.

[0123] Meanwhile, at the same time T1, the second star wheel 52 has just fed out the previous transport case 7, and with the momentum of the feeding, the locking protrusion 523 of the next engaging protrusion 522 in the rotational direction Rt1 comes into contact with the rear corner 72 of the currently paused transport case 7 and stops (see FIG. 12). At this time, part of the tip of the locking protrusion 523 of the second star wheel 52 overlaps with the transport case 7 when viewed in the transport direction Tr1.

[0124] Then, at time T2, the first driving unit 53 rotates the first star wheel 51. As a result, the rear corner 72 of the transport case 7 that was temporarily stopped is pushed in the transport direction Tr1 by the pushing protrusion 514. As a result, the transport case 7 is sent out in the transport direction Tr1 (see FIG. 13).

[0125] When the extrusion protrusion 514 pushes the transport case 7 by the rotation of the first star wheel 51, a force acts on the transport case 7 in the transport direction Tr1 and in a direction intersecting the transport direction Tr1. Therefore, at the junction 115, the transport case 7 is guided by the guide portion 118 arranged between the junction transport path 120 and the main transport path 110, and moves in the transport direction Tr1.

[0126] Then, the transport case 7 pushed in the transport direction Tr1 by the pushing protrusion 514 moves in the transport direction by the force of the pushing protrusion 514, and is transported in the transport direction Tr1 by the merging conveyor 221. By being transported by the merging conveyor 221, the transport case 7 is sent to the feed section 320 at a predetermined speed.

[0127] Meanwhile, at the same time T2, the locking protrusion 523 of the second star wheel 52 is pressed by the front corner 73 in the transport direction of the transport case 7 transported to the junction waiting position Jp1. This causes the second star wheel 52 to rotate in the rotation direction Rt1 (see FIG. 14). At this time, the second drive unit 54 may detect the rotation of the second star wheel 52 and apply a rotational force to the second star wheel 52. At this time, the second drive unit 54 may apply the rotational force to the second star wheel 52 for a fixed time or until the transport case 7 in contact with it reaches the junction waiting position Jp1.

[0128] 15, at time T3, the next transport case 7 reaches the junction waiting position Jp1. At this time, the engaging protrusions 522 of the second star wheel 52 engage with the corners 72 and 73 of the transport case 7. In this state, the second drive unit 54 fixes the second star wheel 52. This causes the new transport case 7 to temporarily stop at the junction waiting position Jp1.

[0129] Meanwhile, at the same time T3, the locking projection 513 of the engaging protrusion 512 of the first star wheel 51 comes into contact with the rear corner 72 in the conveying direction Tr1 of the conveying case 7 that is temporarily stopped at the junction waiting position Jp1 and stops (see FIG. 16). By repeating the states shown in FIGS. 11 to 16, the conveying case 7 that has been conveyed through the junction conveying path 120 is temporarily stopped at the junction waiting position Jp1 and then sent out at a timing determined by the control unit 400.

[0130] In the unloading section 310, the first star wheel 51 and the second star wheel 52 are arranged to be stacked on the same central axis. Then, one of the star wheels rotates to send out the transport case 7 that has been temporarily stopped at the junction waiting position Jp1. At the same time, the other star wheel temporarily stops the transport case 7 that has been next transported to the junction waiting position Jp1. As a result, in the unloading section 310, the first star wheel 51 and the second star wheel 52 alternately and seamlessly stop and send out the transport case 7. In other words, by using the unloading section 310, the transport case 7 is sent out sequentially at a predetermined timing.

[0131] Moreover, while one star wheel sends out a transport case 7 from the junction standby position Jp1, the other star wheel simultaneously stops the next transport case 7 transported at the junction standby position Jp1.

[0132] Since the first star wheel 51 and the second star wheel 52 are configured to operate alternately, it is possible to reduce the number of engaging protrusions 512 of the first star wheel 51 and the number of engaging protrusions 522 of the second star wheel 52 (three each in this example). This allows the first star wheel 51 and the second star wheel 52 to be made smaller and lighter. This improves the responsiveness of the first star wheel 51 to the driving force from the first drive unit 53 and the responsiveness of the second star wheel 52 to the driving force from the second drive unit 54. This suppresses the response delay of the first star wheel 51 and the second star wheel 52, enabling highly accurate delivery.

[0133] <Operation of the feeding unit 320> The transport case 7 is sent out from the discharge section 310 while maintaining the reference position Gs. Then, the sent out transport case 7 is transported by the junction conveyor 221 while maintaining the reference position Gs.

[0134] The transport case 7 in the reference posture Gs is transported to the feed section 320. The side movement section 611 and the upward movement section 612 are controlled in synchronization with each other by the control section 400. The synchronization may be, for example, but is not limited to, a state in which the movement speeds of the belt surface 6111 of the side movement section 611 and the belt surface 6121 of the upward movement section 612 are equal.

[0135] Control unit 400 also adjusts the timing of the movement, and first contact portion 621 and second contact portion 622 move while maintaining a constant relative position. To explain in more detail, first contact portion 621 and second contact portion 622 move while maintaining a constant relative distance between them, with first contact surface 623 of first contact portion 621 and second contact surface 624 of second contact portion 622 perpendicular to each other.

[0136] The outer surface 71 of the transport case 7 is supported by the first contact surface 623 of the first contact portion 621, and the rear surface 74 is supported by the second contact surface 624 of the second contact portion 622. This causes the transport case 7 to be maintained in the reference position Gs.

[0137] In the junction section 115, the movement of the transport case 7 sent out from the discharge section 310 in the transport direction Tr1 is mainly performed by the junction conveyor 221. The first contact section 621 attached to the side movement section 611 is pushed toward the main transport path 110 while the transport case 7 is moving in the transport direction Tr1 and maintaining the reference posture Gs. In addition, the second contact section 622 attached to the upper movement section 612 pushes the rear surface 74 of the transport case 7 in the transport direction Tr1, thereby assisting the transport of the transport case 7 by the junction conveyor 221 and maintaining the reference posture Gs. Therefore, the transport case 7 is moved by the feed section 320 along a direction inclined with respect to the transport direction Tr1 in the first straight section 111 while maintaining the reference posture Gs, and is sent to the main transport path 110.

[0138] In the junction section 115, the main transport conveyor 211 is disposed adjacent to the junction conveyor 221 in parallel therewith. Then, in the feed section 320, the transport case 7 moves from the upper part of the junction conveyor 221 to the upper part of the main transport conveyor 211 as it moves in the transport direction Tr1. The control section 400 controls the transport speeds of the junction conveyor 221 and the main transport conveyor 211 to be the same. This prevents the posture of the transport case 7 from being disturbed. However, this is not limited to this, and the transport speeds of the junction conveyor 221 and the main transport conveyor 211 may be adjusted so that the posture of the transport case 7 is not disturbed.

[0139] In this embodiment, the movement of the transport case 7 in the transport direction Tr1 at the junction 115 is performed by the junction conveyor 221 and the main transport conveyor 211, but is not limited thereto. For example, if the transport case 7 can be moved smoothly and stably to the main transport path 110, the main transport conveyor 211 may be omitted. In addition, instead of the main transport conveyor 211, a configuration in which rollers are laid out so that the transport case 7 can be moved smoothly may be arranged. Furthermore, if the unloading section 310 and the sending section 320 can move the transport case 7 to the main transport path 110, the junction conveyor 221 may be arranged up to the junction waiting position Jp1. In addition, instead of the junction conveyor 221 at the junction 115, a configuration in which rollers are laid out so that the transport case 7 can be moved smoothly may be arranged.

[0140] The control unit 400 is connected to the first drive unit 53 and the second drive unit 54 of the discharge unit 310 and the side movement unit 611 and the upward movement unit 612 of the feed unit 320, and controls them in synchronization with each other. First, the control unit 400 controls the first drive unit 53 and the second drive unit 54 to alternately rotate the first star wheel 51 and the second star wheel 52. As a result, the transport case 7 is pulled out sequentially by the first star wheel 51 and the second star wheel 52 at a predetermined timing.

[0141] Then, the control unit 400 controls the lateral movement unit 611 and the upward movement unit 612 in synchronization with the first drive unit 53 and the second drive unit 54 so that the first contact unit 621 contacts the outer surface 71 of the transport case 7 that has reached the feed unit 320, and the second contact unit 622 contacts the rear surface 74 in the transport direction Tr1. This makes it possible to send the transport case 7 sent out by the discharge unit 310 to the main transport path 110 without delay.

[0142] The transport case 7 that joins the main transport path 110 at the junction 115 has a rear surface 74 and a front surface 75 held by a first holding shuttle 1 and a second holding shuttle 2 of the main transport mechanism 210. In the main transport mechanism 210, the first holding shuttle 1 and the second holding shuttle 2 move along the rails 3 and circulate on the main transport path 110 in the transport direction.

[0143] Then, some of the transport cases 7 held by the first holding shuttle 1 and the second holding shuttle 2 are sent to the branched transport path 130 at the branching section 116, and the remainder return to the first straight section 111, i.e., the adjustment standby position Sp1, through the second curved section 114. Some of the first holding shuttle 1 and the second holding shuttle 2 move to the adjustment standby position Sp1 while still holding the transport case 7. At the junction 115, the first holding shuttle 1 and the second holding shuttle 2 that are not holding the transport case 7 can hold the transport case 7 sent out from the delivery device 300.

[0144] Therefore, the control unit 400 checks whether the first holding shuttle 1 and the second holding shuttle 2 are holding a transport case 7 based on monitoring information from the monitoring unit 212. The control unit 400 causes the first holding shuttle 1 and the second holding shuttle 2 that it determines are not holding a transport case 7 to pass through the adjustment standby position Sp1. The control unit 400 controls the first holding shuttle 1 and the second holding shuttle 2 that have passed through at the junction 115 so that they hold the transport case 7 by sandwiching the rear face 74 and the front face 75 therebetween.

[0145] Furthermore, when it is determined that the first hold shuttle 1 and the second hold shuttle 2 are holding a transport case 7, the control unit 400 causes the first hold shuttle 1 and the second hold shuttle 2 to temporarily wait at the adjustment standby position Sp1. Then, the control unit 400 moves the first hold shuttle and the second hold shuttle 2 holding the transport case 7 from the adjustment standby position Sp1 to the junction 115 so as not to interfere (contact, etc.) with the transport case 7 sent from the sending device 300.

[0146] At this time, the control unit 400 may move the first holding shuttle 1 and the second holding shuttle 2 at a timing such that the held transport case 7 does not come into contact with the first contact portion 621 and the second contact portion 622 of the feed section 320, or may adjust the speed after moving to the junction 115 to prevent contact.

[0147] With this configuration, it is possible to have all of the first holding shuttles 1 and second holding shuttles 2 sent to the junction 115 hold the transport case 7. This makes it possible to eliminate the first holding shuttles 1 and second holding shuttles 2 that are sent to the first working section St1 without holding a transport case 7, making it possible to improve the efficiency of work.

[0148] In this embodiment, the first contact portion 621 is attached to the lateral movement portion 611, and the second contact portion 622 is attached to the upward movement portion 612, but this is not limited thereto. For example, the first contact portion 621 and the second contact portion 622 may be attached to one sending-out movement portion 61. When there is one sending-out movement portion 61, it may be the lateral movement portion or the upward movement portion. It may also be disposed at a position other than these.

[0149] <Operation at branching portion 116> In the conveying device A, as described above, the first working section St1, which is disposed midway along the second straight section 112, performs the task of placing the container Cv in the conveying case 7. Then, the conveying case 7 in which the container Cv has been placed in the first working section St1 is sent via the branch conveying path 130 to the second working section St2, which includes the next manufacturing process. The container Cv is sent to the first working section St1 from another manufacturing process (not shown). Then, the sent container Cv is placed in the conveying case 7.

[0150] There may be cases where the number of containers Cv in the first working unit St1 is small and the containers Cv cannot be placed in the transport case 7. In this case, the control unit 400 may stop the transport case 7 at the first working unit St1 and wait for the containers Cv to be sent. On the other hand, when there are a large number of transport cases 7, stopping the transport case 7 at the first working unit St1 until the containers Cv are sent will cause the transport cases 7 to be transported later to pile up, resulting in a backlog of transport cases 7.

[0151] Therefore, when the containers Cv are insufficient, the control unit 400 controls the main transport mechanism 210 to pass the transport case 7 through the first working unit St1 so that the transport case 7 does not accumulate in the first working unit St1. As a result, the transport case 7 with the container Cv placed therein and the transport case 7 without the container Cv placed therein are transported to the branching unit 116 located downstream of the transport case 7 in the transport direction Tr1.

[0152] The operation at the branching section 116 will now be described in detail. FIG. 17 is a flow chart showing the operation of the main transport mechanism 210 at the branching section 116. The control section 400 acquires status information indicating the status of the transport case 7 transported to the run-up area 117 from the status detection section 232 (step S101). Note that the status information includes, for example, information on whether or not a container Cv is placed in the transport case 7, but is not limited to this. It may also include other information. The status information includes information for determining whether or not to send the transport case 7 to the second working section St2.

[0153] The control unit 400 determines whether or not a container Cv is placed in the transport case 7 based on the status information from the status detection unit 232 (step S102). If a container Cv is not placed in the transport case 7 (No in step S102), the control unit 400 maintains the operation of the first hold shuttle 1 and the second hold shuttle 2 (step S103) and ends the branching operation.

[0154] By maintaining the operation of the first holding shuttle 1 and the second holding shuttle 2, the transport case 7 is transported while being held by the first holding shuttle 1 and the second holding shuttle 2. Then, the first holding shuttle 1 and the second holding shuttle 2 move from the second straight section 112 to the second curved section 114 at the branching section 116. At this time, the first claw portion 16 of the first holding shuttle 1 and the second claw portion 26 of the second holding shuttle 2 engage with the recesses 741 and 751 of the transport case 7. As a result, the first holding shuttle 1 and the second holding shuttle 2 pull the transport case 7 towards the second curved section 114.

[0155] Furthermore, when it is determined from the state information that the container Cv is placed in the transport case 7 (Yes in step S102), the control unit 400 checks whether the transport case 7 has reached the run-up area 117 (step S104). The control unit 400 waits until the transport case 7 has reached the run-up area 117 (repeats step S104 if No in step S104).

[0156] As described above, in the approach area 117, the lower surface of the transport case 7 is supported by the branch conveyor 231. In the approach area 117, the transport case 7 is transported by the first holding shuttle 1, the second holding shuttle 2, and the branch conveyor 231. At this time, the transport speed of the branch conveyor 231 is the same as the transport speeds of the first holding shuttle 1 and the second holding shuttle 2. However, this is not limited thereto, and as described below, the transport speeds of the branch conveyor 231, the first holding shuttle 1, and the second holding shuttle 2 may be determined so that the transport case 7 is stably transported by the branch conveyor 231 when the first holding shuttle 1 and the second holding shuttle 2 move away from the transport case 7.

[0157] When the transport case 7 reaches the run-up area 117 (Yes in step S104), the control unit 400 controls the linear motor driver 43 to accelerate the second holding shuttle 2 (step S105). As a result, the second surface pushing arm 22 and the second claw arm 23 of the second holding shuttle 2 move away from the front surface 75 of the transport case 7.

[0158] Furthermore, the control unit 400 controls the linear motor driver 43 to decelerate the first holding shuttle 1 (step S106). As a result, the first surface pushing arm 12 and the first claw arm 13 of the first holding shuttle 1 move away from the rear surface 74 of the transport case 7. As a result, the first holding shuttle 1 and the second holding shuttle 2 move away from the transport case 7.

[0159] The transport case 7 is then transported by the branch conveyor 231 toward the branch transport path 130. In the branch transport path 130, the transport case 7 is guided and transported by the branch guide section 131. By being guided by the branch guide section 131, the transport case 7 is transported in the branch transport path 130 while maintaining the reference posture Gs.

[0160] In the branching section 116, the branch guide section 131 is formed so that the upstream side in the conveying direction Tr1 is wider. By forming it in this manner, even if the conveying case 7 is shifted or its posture is disturbed when the first holding shuttle 1 and the second holding shuttle 2 move away from the conveying case 7, it is possible to correct the posture and position to the correct position and enter the inside of the branch conveying path 130.

[0161] The transport case 7 in which the container Cv is placed is transported through the branch transport path 130 and reaches the curved transport path 140. The curved transport path 140 is housed inside the second working unit St2. In this embodiment, the transport case 7 is transported through the curved transport path 140 by a transport mechanism provided in the second working unit St2, for example, a transport wheel having a recess on its outer circumferential surface into which the transport case 7 can fit.

[0162] Then, the second working unit St2 puts a lid on the container Cv that has been placed in the transport case 7 and transported, and moves only the container Cv to the outside of the transport device A. The transport case 7 is sent from the curved transport path 140 to the junction transport path 120 without the container Cv placed therein. Thereafter, the transport case 7 is transported again through the junction transport path 120 and merges with the main transport path 110 from the junction 115.

[0163] As described above, when the transport case 7 is in the main transport path 110, it is sandwiched from the front and rear in the transport direction Tr1 by the first hold shuttle 1 and the second hold shuttle 2. The first hold shuttle 1 and the second hold shuttle 2 can be operated independently by the linear motor driver 43. Therefore, at the junction 115, the transport case 7 can be easily and reliably transferred from the sending device 300 to the main transport mechanism 210.

[0164] Similarly, by simply changing the transport speeds of the first hold shuttle 1 and the second hold shuttle 2, the transport direction of the transport case 7 at the branching section 116 can be switched easily and reliably.

[0165] Although the branch conveyor 231 has been described as an example of the branch transport mechanism 230, the present invention is not limited to this. For example, a shuttle may be operated along the inside of the branch transport path 130 by a linear motor and have a configuration similar to that of the first holding shuttle 1 and the second holding shuttle 2. In this case, the shuttle of the branch transport mechanism 230 may be configured to hold the main transport mechanism 210 from the side opposite to the first holding shuttle 1 and the second holding shuttle 2. It may also be configured to hold the main transport mechanism 210 from the bottom.

[0166] In addition, in this embodiment, the transport case 7 transported into the branch transport path 130 is configured to return to the merging transport path 120 via the curved transport path 140, but is not limited to this. The branch transport path 130 may send the transport case 7 to another device outside the transport device A. In this case, the merging transport path 120 may send the transport case 7 from another external device, or the transport cases 7 may be stored separately and the transport cases 7 may be sent out sequentially.

[0167] As described above, by integrating and controlling the conveying path 100, the conveying mechanism 200 and the sending device 300 with the control unit 400, it is possible to transport the conveying case 7 stably for a long period of time without the conveying case 7 becoming stuck in part of the conveying path 100 or falling off to the outside.

[0168] The monitoring unit 212 and the status detection unit 232 described above may be configured to irradiate light and detect the status based on the detection status of the light, or may capture an image using an imaging element and send the captured image data to the control unit 400.

[0169] In addition, in this embodiment, the configuration includes the monitoring unit 212, but is not limited to this. In the main transport path 110, the transport case 7 returning to the first straight section 111 is selected at the branching section 116. Therefore, it is also possible to obtain the holding state of the transport case 7 by the first holding shuttle 1 and the second holding shuttle 2 that reach the adjustment standby position Sp1 based on the operation at the branching section 116. Therefore, the monitoring unit 212 may be omitted. Note that in this embodiment, the accuracy is further increased by using both information based on the operation at the branching section 116 and information from the monitoring unit 212.

[0170] Although the embodiment of the present invention has been described above, the present invention is not limited to the contents thereof. Furthermore, various modifications can be made to the embodiment of the present invention without departing from the spirit of the invention. [Explanation of symbols]

[0171] 100 Transport Path 110 Main transport route 111 1st straight section 112 2nd straight section 113 1st curve section 114 Second curve section 115 Junction 116 Branch 117 Run-up area 118 Guide part 119 Lower guide part 120 Junction Transport Route 121 Junction Guide Section 130 Branching conveyor 131 Branch guide part 140 Curved conveyor path 200 Conveyor mechanism 210 Main transport mechanism 211 Main transport conveyor 212 Monitoring Department 1 First holding shuttle 11 Main body 12 First surface pressing arm 13 First claw arm 14 Upper roller 15 Lower roller 16 1st claw part 2 Second holding shuttle 21 Main body 22 Second surface pressing arm 23 Second claw arm 24 Upper roller 25 Lower Roller 26 2nd claw part 3. Rail 3a Rail 3b Rail 31 Main rail section 32 Grooved rail section 33 Flat rail section 4 Linear drive unit 41 Coil 42 Magnet 43 Control Unit 44 Linear motor driver 220 Merging and Conveying Mechanism 221 Merging Conveyor 230 Diverting Transport Mechanism 231 Branch Conveyor 232 Status detection unit 300 Delivery device 310 Unloading Section 51 1st Star Wheel 511 Main body 512 Engagement protrusion 513 Locking protrusion 514 Extrusion protrusion 52 2nd Star Wheel 521 Main body 522 Engagement protrusion 523 Locking protrusion 524 Extrusion protrusion 53 First Drive Unit 54 Second Drive Unit 320 Feeding section 321 Groove 61 Sending and Moving Department 611 Lateral moving part 6111 Belt surface 612 Upward moving part 6121 Belt surface 62 Contact part 621 1st contact part 622 2nd contact part 623 1st contact surface 624 Second contact surface 400 Control section 401 Processing Circuit 402 Memory circuit A Conveyor device 7 Transport Case Cv container Gs Reference position Jp1 Merging waiting position Rt1 Rotation direction Sp1 Adjustment standby position St1 First working section St2 2nd working section Tr1 Transport direction

Claims

1. A device for sending out a rectangular parallelepiped-shaped object moved by a merging conveyor arranged along a merging conveying path extending parallel to a main conveying path from the merging conveying path to the main conveying path, comprising: A plurality of contact portions that come into contact with the transported object; a sending-out moving section that moves the plurality of contact sections from the junction conveying path toward the main conveying path, The contact portion is a first contact portion that contacts a side surface of the transported object opposite to the main transport path; a second contact portion that contacts a rear side surface of the transported object in the transport direction, The contact portions are disposed at equal intervals on the delivery moving portion, The sending movement unit includes: an upper moving section in the form of a belt conveyor, the upper moving section being disposed above the object to be conveyed and having a surface facing an upper surface of the main conveying path and the joining conveying path, the second contact section being disposed on the belt surface; a lateral movement section having a belt conveyor shape and disposed opposite to a surface of the object on the opposite side to the main transport path, and on which the first contact section is disposed, A device for sending out a transported object, wherein a moving speed of the first contact portion caused by the lateral movement portion and a moving speed of the second contact portion caused by the upward movement portion are equal to each other.

2. The device for sending out a transported object according to claim 1 , wherein the first contact portion has a first contact surface that comes into surface contact with a side surface of the transported object opposite the main transport path.

3. 3. The device for sending out a transported object according to claim 1, wherein the second contact portion has a second contact surface that comes into contact with a rear side surface in the transport direction.

4. 4. The device for delivering transported objects according to claim 3, wherein a normal direction of a second contact surface of the second contact portion is formed to coincide with a transport direction of the transported objects on the main transport path and the junction transport path.

5. a linear transport unit including a transport shuttle that is disposed along the main transport path and moves in the transport direction while holding the front and rear surfaces of the transported object in the transport direction; 5. The device for sending out transported objects according to claim 1, wherein the output moving section moves the transported object so that the speed of the transported object in a direction along the main transport path is the same as that of the transport shuttle.

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