Linear Transport Device

Abstract

To provide a linear conveyance device capable of simultaneously holding and conveying a plurality of articles with a simple configuration.SOLUTION: A linear conveyance device includes: a first gripper member 30A having a plurality of first gripper pieces 28A formed at predetermined intervals for engaging one side of each of a plurality of articles M; a second gripper member 30B having a plurality of second gripper pieces 28B formed at predetermined intervals for engaging the other side of each of the plurality of articles M; a first movable element 34A provided with the first gripper member 30A; and a second movable element 34B provided with the second gripper member 30B. A movement of the first movable element 34A and the second movable element 34B along conveyance paths 12A and 12B is controlled, an interval between the first gripper piece 28A and the second gripper piece 28B is adjusted, and the plurality of articles M can be simultaneously held and conveyed along the conveyance path.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a linear transport device that holds and transports objects in a single line. [Background technology]

[0002] A conveying device that travels along an elliptical conveying path while gripping both ends of a bag-shaped container with a pair of grippers is known (Patent Document 1). Both ends of each container are gripped by an opening / closing mechanism provided on each gripper, and the pair of grippers gripping the container move along the conveying path while maintaining a predetermined distance between their tips, thereby conveying the container along the elliptical conveying path. The conveying path is a circular orbit consisting of a straight path and a reversing path, and an electromagnetic coil, which is one element of a linear motor, is provided on the movable element of each gripper. In this way, the conveying path and the grippers constitute a linear motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-172141 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the conveying device of Patent Document 1, an opening / closing mechanism and a moving mechanism are required for each gripper, which makes the configuration complicated and increases costs.

[0005] An object of the present invention is to provide a linear transport device capable of simultaneously holding and transporting a plurality of articles with a simple configuration. [Means for solving the problem]

[0006] A linear transport device according to a first aspect of the present invention is a linear transport device comprising a stator provided along a transport path, a mover running along the transport path, and control means for moving the mover along the transport path, the mover comprising a first mover provided with a first gripper member having a plurality of first gripper pieces formed at predetermined intervals and adapted to engage with one side of each of a plurality of articles, and a second mover provided with a second gripper member having a plurality of second gripper pieces formed at predetermined intervals and adapted to engage with the other side of each of a plurality of articles, the control means controlling the movement of the first and second movers along the transport path to adjust the interval between the first gripper piece and the second gripper piece to simultaneously grip the plurality of articles. and Release At the same time While holding multiple objects at the same time The conveyance path can be conveyed along the conveyance path. The first gripper piece and the second gripper piece are formed in a comb-teeth shape at a predetermined interval in the row direction, the first gripper member and the second gripper member are slidable, and the interval between the first gripper piece and the second gripper piece is simultaneously adjusted by reciprocating the first gripper member and the second gripper member in the row direction. It is characterized by the following.

[0007] The linear conveying device of the second invention of the present invention is characterized in that, in the first invention, the conveying path is an endless circulation path having a pair of straight paths and a pair of arc-shaped reversing paths, the first movable element is provided with a rotating shaft that supports the first gripper member, and the second movable element is provided with a rotating shaft that supports the second gripper member. Effect of the Invention

[0009] According to the present invention, it is possible to provide a linear transport device that is capable of holding and transporting a plurality of objects simultaneously with a simple configuration. [Brief description of the drawings]

[0010] [Figure 1] 1 is a plan view showing the arrangement of a linear transport device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a plan view showing the configuration of a holding device. [Diagram 3] FIG. 4 is a front view of the holding device as seen from outside the conveying path. [Figure 4] 1 is a plan view of a holding device showing that the pitch between held articles does not change depending on the outer diameter of the articles. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a plan view showing the arrangement of a linear transport device according to an embodiment of the present invention.

[0012] The linear conveying device 10 of this embodiment is capable of conveying objects M of different sizes (e.g., containers such as small-capacity vials) and conveys the objects M in groups along a predetermined conveying path. The linear conveying device 10 includes, for example, a circular conveying path 12. The conveying path 12 of this embodiment has an elliptical shape and is composed of a pair of parallel first and second straight paths 12A, 12B and a pair of first and second reversing sections 12C, 12D that connect both ends of the first and second straight paths 12A, 12B in a semicircular shape.

[0013] The conveying path 12 is equipped with one or more holding devices 14 capable of holding a predetermined number (N) of articles M along the path and movable along the conveying path 12. The articles M can be supplied to the linear conveying device 10 in multiple rows in units of the number N of articles that the holding devices 14 can hold, and can be discharged in multiple rows in units of N. In FIG. 1, a supply section 16 that supplies the articles M in six rows is disposed at the upstream end of the first straight path 12A, and a discharge section 18 that discharges the articles M in six rows is disposed at the downstream end of the second straight path 12B. Note that a robot hand may be used for supplying / discharging the articles, but other transfer devices may also be used.

[0014] In this embodiment, the article M is a container such as a vial, and a filler 20 and a capper 22 are arranged in this order on the downstream side of the supply unit 16 of the first straight path 12A in the conveying path 12. The downstream end of the first straight path 12A is connected to the upstream end of the second straight path 12B via the first reversing unit 12C, and a labeler 24, an inspection device 26, and a discharge unit 18 are arranged on the second straight path 12B from the upstream side. The downstream end of the second straight path 12B is connected to the upstream end of the first straight path 12A via the second reversing unit 12D. As a result, the conveying path 12 forms an oval circular path, and the holding device 14 circulates around the conveying path 12 in one direction.

[0015] Fig. 2 is a plan view showing the configuration of the holding device 14. Fig. 2(a) shows a state in which the holding device 14 is open and the article M is released, and Fig. 2(b) shows a state in which the holding device 14 is closed and holds the article M. Fig. 3 is a front view of the holding device 14 as seen from outside the conveying path 12.

[0016] The holding device 14 has a predetermined number of grippers 28 that grip a predetermined number (six) of articles M from both sides. Each gripper 28 is composed of a pair of first and second gripper pieces 28A, 28B. The first gripper piece 28A is formed in a comb-teeth shape on the first gripper member 30A at a predetermined interval in the row direction, and the second gripper piece 28B is formed in a comb-teeth shape on the second gripper member 30B at a predetermined interval in the row direction.

[0017] The first gripper member 30A is rotatably supported by a first mover 34A via a rotating shaft 32A, and the second gripper member 30B is rotatably supported by a second mover 34B via a rotating shaft 32B. The first and second movers 34A, 34B are disposed between a pair of guides 36 that form the conveying path 12, and are movable along the guides 36, i.e., the conveying path 12, by electromagnetic interaction with a stator provided along the guides 36, for example.

[0018] The second gripper member 30B is housed, for example, inside the first gripper member 30A so as to be slidable along the longitudinal direction, and the gripper 28 is simultaneously opened and closed by the second gripper member 30B reciprocating inside the first gripper member 30A. The upper end of a rotating shaft 32A extending from the first mover 34A is attached to the bottom surface of the first gripper member 30A, and the first gripper member 30A is rotatably supported around the rotating shaft 32A. On the other hand, the upper end of a rotating shaft 32B extending from the second mover 34B is attached to the bottom surface of the second gripper member 30B through an oval hole 38 provided in the bottom surface of the first gripper member 30A, and the second gripper member 30B is rotatably supported around the rotating shaft 32B.

[0019] The gripper 28 is opened and closed by adjusting the distance between a first mover 34A to which the first gripper member 30A is attached and a second mover 34B to which the second gripper member 30B is attached. In other words, when the movement (position) of the first and second movers 34A, 34B along the conveying path 12 is adjusted so as to reduce the distance between the first and second movers 34A, 34B, the first gripper member 30A and the second gripper member 30B move relatively in a direction to close the first and second gripper pieces 28A, 28B, respectively.

[0020] On the other hand, when the movement (position) of the first and second movers 34A, 34B along the conveying path 12 is adjusted so as to widen the distance between the first and second movers 34A, 34B, the first gripper member 30A and the second gripper member 30B move relatively in the direction of opening the first and second gripper pieces 28A, 28B. At this time, the rotating shaft 32B slides in the oval hole 38, and the first and second gripper members 30A, 30B can move relatively to each other. The movement of the first and second movers 34A, 34B along the guide 36 is controlled by a control unit (not shown), and the opening and closing of the gripper 28 and the movement of the holding device 14 along the conveying path 12 can be performed independently or simultaneously in parallel by controlling the movement of the first and second movers 34A, 34B.

[0021] In addition, because the first and second gripper members 30A, 30B are rotatable about the rotation shafts 32A, 32B, respectively, even when the conveying path 12, such as the reversing units 12C, 12D, describes an arc (curve), the first and second gripper members 30A, 30B can be rotated about the rotation shafts 32A, 32B while maintaining their relative positions to each other and move along a curved trajectory, as shown in the reversing unit 12C in Fig. 1. In other words, the holding device 14 can move through the reversing unit 12C while holding a plurality of articles M in series.

[0022] FIG. 4 is a plan view of the holding device 14 showing that the pitch between the articles does not change when the holding device 14 of this embodiment holds a large-diameter article M1 and when the holding device 14 holds a small-diameter article M2.

[0023] As described above, according to this embodiment, the opening / closing and movement of the holding device can be controlled by controlling the positions of the two movers, and a linear conveying device that can hold and convey multiple objects simultaneously can be configured with an extremely simple structure. This allows the device itself to be made smaller and costs to be reduced.

[0024] In addition, in this embodiment, by adjusting the distance between the first and second gripper members, it can be used for items of various sizes.Furthermore, even if the size of the item changes, the center position of the held item does not change, so there is no need to or it is easy to adjust the position of the filling nozzle or capping head provided along the conveying path.

[0025] In this embodiment, the first and second gripper members are rotatably supported by the mover through the rotating shaft, so that transportation is possible even if the transport path includes a curved path such as an arc. In addition, since this embodiment employs linear transport, it is more sanitary than transport methods that use chains or gears.

[0026] The conveying path does not have to be circular, and may be composed of only straight paths. For example, the holding device may reciprocate along a non-circular conveying path that includes straight and / or curved paths. Also, the electromagnets and permanent magnets of the linear conveying device may be disposed on either the stator side or the mover side. [Explanation of symbols]

[0027] 10 Linear transport device 12A, 12B conveyor path 14 Holding device 28 Gripper 28A First gripper piece 28B Second gripper piece 30A First gripper member 30B Second gripper member 32A, 32B Rotating shaft 34A 1st mover 34B 2nd mover 36 Guide (stator) 38 holes M Goods

Claims

1. A linear conveying device including a stator provided along a conveying path, a movable element running along the conveying path, and a control means for moving the movable element along the conveying path, the movable element includes a first movable element provided with a first gripper member having a plurality of first gripper pieces formed at predetermined intervals and adapted to engage with one side portions of each of a plurality of articles, and a second movable element provided with a second gripper member having a plurality of second gripper pieces formed at predetermined intervals and adapted to engage with the other side portions of each of a plurality of articles, the control means controls the movement of the first and second movable elements along the conveying path to adjust the distance between the first and second gripper pieces, thereby simultaneously gripping and releasing the multiple articles and enabling the multiple articles to be conveyed along the conveying path while being gripped simultaneously; The first gripper piece and the second gripper piece are formed in a comb-teeth shape at a predetermined interval in the row direction, the first gripper member and the second gripper member are slidable, and the interval between the first gripper piece and the second gripper piece is simultaneously adjusted by reciprocating the first gripper member and the second gripper member in the row direction. A linear transport device characterized by:

2. The linear conveying device according to claim 1, characterized in that the conveying path is an endless circulating path having a pair of straight paths and a pair of arc-shaped reversing paths, the first movable element is provided with a rotating shaft that supports the first gripper member, and the second movable element is provided with a rotating shaft that supports the second gripper member.

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