Conveyor device

Abstract

A conveyance device 1 conveys an object OB, and is provided with a circulation path 10 and a plurality of movable modules 20 that can move on the circulation path 10. Some of the plurality of movable modules 20 are each provided with a main container 31 in which the object can be placed and which has a pair of holding members 311, 312 configured so as to be capable of approaching and separating relatively to / from each other. The object is placed in the main container 31 and conveyed on the circulation path 10 in a state of being held by the pair of holding members 311, 312.

Description

Technical Field

[0001] The present disclosure relates to a conveying device, and more particularly to a conveying device for articles using a linear conveying method.

Background Art

[0002] In recent years, in a manufacturing line or the like, as a conveying device (conveyor) for conveying articles such as products, parts, workpieces, packages, various containers, etc., a linear conveying method in which a plurality of containers on which articles are placed are conveyed by a linear motor has been used (for example, Patent Document 1). This linear conveying method adopts a configuration in which a mover carrying a container moves on a track on which stators are arranged in a row to convey an article.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional conveying device described in Patent Document 1, since the configuration is to place and convey an article on a container, when changing the article to be conveyed to, for example, an article of a different size, it is necessary to change a plurality of containers on the circulation path to containers adapted to the article after the change, and a lot of working time is required along with the change in the size of the article.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a conveying device capable of conveying articles of different sizes without the need to change the container type accompanying the change in the size of the article to be conveyed by crimping and holding the article.

Means for Solving the Problems

[0006] A transport device according to an aspect of the present disclosure is a transport device that transports an article, and includes a circulation path and a plurality of movable modules movable on the circulation path. Some of the plurality of movable modules are provided with a pair of gripping members configured to be able to approach and separate relatively closely, and a main container on which an article can be placed. The article is placed on the main container and is conveyed on the circulation path while being gripped by the pair of gripping members. The plurality of movable modules are on the circulation path. said It moves on the circulation path in a group unit including a first movable module provided with a main container, a second movable module and a third movable module respectively located before and after the moving direction of the first movable module. Guide containers capable of holding the sides of the article placed on the main container are respectively arranged on the second movable module and the third movable module. The second movable module supports the article from the front in the moving direction by the guide container, and the third movable module supports the article from the rear by the guide container. The article is characterized in that it is transported by the group of the movable modules for each transport unit of the article.

Advantages of the Invention

[0007] According to the transport device according to an aspect of the present disclosure, it is possible to provide a transport device that does not require a change in the type of container accompanying a change in the size of the article to be transported and can transport articles of different sizes.

Brief Description of the Drawings

[0008]

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Embodiments for Carrying Out the Invention

[0009] ≪Background of Reaching the Embodiment of the Present Invention≫ In recent years, multi-variety production that manufactures different sizes and types of products using a common production line has become widespread. Furthermore, recently, in order to reduce the make-to-stock and inventory, a production method that can timely supply the desired variety in the desired quantity according to an order has been demanded.

[0010] In such multi-variety production, along with the switching of the product varieties to be manufactured, the sizes of articles such as parts and semi-finished products conveyed on the production line are changed. In that case, in the conventional conveying device, in accordance with the size of the article, the article placement table (container) and its parts are changed, or the allowable dimensions of the container are changed by adjustment work, that is, the so-called "type change" of the container is carried out to cope with the change in the size of the article.

[0011] However, in this type change, the number of parts to be changed or adjusted may reach several tens of places, and the work requires several tens of minutes to several hours, which has been an obstacle to improving production efficiency. In addition, minute dimensional changes during adjustment affect the appearance (look and molding condition) of the product, and adjustment errors or part mounting errors may lead to equipment damage in some cases. There are also problems such as the work requiring considerable attention and skill, and the heavy burden on the operator.

[0012] On the other hand, for example, in Patent Document 2, a technique is proposed that uses a linear conveying method to convey without using a container, with pillow packs stacked and held between two moving elements before and after, in order to cope with the change in the quantity of pillow packs. However, in this conveying device, since an article is held and conveyed between two moving elements, there is a concern that it may be difficult to perform conveyance on a circulation path including a curved path.

[0013] Therefore, the inventor considered that in order to reduce the working time and the work burden associated with the type change, it is most effective to reduce the type change work of the container itself associated with the change in the size of the article to be conveyed, and earnestly studied a device configuration that does not require a type change of the container when the size of the target article changes, and arrived at the conveying device according to the embodiment.

[0014] Hereinafter, the conveying device according to the embodiment will be described in detail with reference to the drawings.

[0015] <<Outline of the Embodiment for Implementing the Present Invention>> The conveying device according to an embodiment of the present disclosure is a conveying device for conveying an article, and includes a circulation path and a plurality of movable modules movable on the circulation path. A part of the plurality of movable modules has a pair of gripping members configured to be able to approach and separate relatively, and a main container on which the article can be placed is provided. The article is placed on the main container and is conveyed on the circulation path while being gripped by the pair of gripping members.

[0016] With such a configuration, by crimping and holding the article, it is possible to provide a conveying device that does not require a change in the container type due to a change in the size of the article to be conveyed and can convey articles of different sizes.

[0017] Further, in another aspect, in the aspect described above, the pair of gripping members may be configured to be able to approach and separate in a direction orthogonal to the conveying direction of the movable module. Also, the pair of gripping members may be configured to be pressed by an elastic member and approach each other.

[0018] With such a configuration, it becomes possible to crimp and hold the article in a direction orthogonal to the conveying direction of the movable module by the pair of gripping members. As a result, it becomes possible to convey articles of different sizes by the main container disposed on the movable module, and it is possible to reduce the change in the container type accompanying the change in the size of the article to be conveyed.

[0019] Further, in another aspect, in the aspect described above, the article is a semi-finished packing box, and when the packing box is transferred to the main container, the gripping members separate, and after the packing box is transferred to the main container, the gripping members approach to grip the packing box.

[0020] With such a configuration, it is possible to facilitate the transfer of the article to the main container and to realize a configuration for gripping and crimping and holding the transferred article.

[0021] In another aspect, in any of the aspects described above, among the plurality of movable modules, on the circulation path, there is a first movable module provided with the main container, and a second movable module and a third movable module respectively located before and after the first movable module in the moving direction. The movable modules move on the circulation path in a group unit composed of these, and guide containers capable of holding the sides of the articles placed on the main container are respectively arranged on the second movable module and the third movable module. The second movable module supports the article from the front in the moving direction by the guide container, and the third movable module supports the article from the rear by the guide container. The article may be configured to be conveyed by the group of the movable modules for each conveyance unit of the article.

[0022] With such a configuration, in the conveying device, the elements constituting the container set, that is, the main container on which the article is placed and the two guide containers that support the article from the front and rear in the moving direction respectively, are mounted on three consecutive movable modules that form a group and move on the circulation path, and are configured to move in conjunction on the circulation path.

[0023] Therefore, when changing the article to be conveyed to an article of a different size, it is possible to easily respond to the change in the size of the article by simply changing the interval between the movable modules and thus changing the interval between the two guide containers. Therefore, it is possible to provide a conveying device that reduces the work of changing the mold, such as replacing a plurality of containers on the circulation path with containers adapted to the changed article as required in the prior art, and is capable of conveying articles of different sizes.

[0024] Also, since the weight of the article is held by the main container and the two guide containers support the article from the front and rear in the moving direction, it is possible to convey the article on a curved path, which was difficult in the conventional configuration of holding and conveying the article between two movable elements.

[0025] In another aspect, in any of the aspects described above, on the circulation path, when the second movable module moves in a curved path, the distance from the first movable module is longer than when it moves in a straight line, and on the circulation path, when the third movable module moves in a curved path, the distance from the first movable module is longer than when it moves in a straight line. Such a configuration may be adopted.

[0026] With such a configuration, when moving along the curved path portion of the circulation path, by previously expanding the distance between the two guide containers more than during linear conveyance, it is possible to prevent in advance a collision between the guide container and the article caused by the narrowing of the front - rear distance inside the diameter of the curved path portion.

[0027] In another aspect, in any of the aspects described above, the article is a packing box having a box portion and a lid portion extending from one piece of the opening edge of the box portion. Further, a sealing device is provided for closing the lid portion of the packing box filled with products and conveyed on the circulation path, folding the flap of the lid portion, and adhering the flap of the box portion and the lid portion to seal the packing box. After the sealing, when the first movable module moves in a straight line, the guide containers provided on the second movable module and the third movable module press the flaps located in the front and rear of the flap of the lid portion in the packing box from the front and rear respectively, and a configuration may be adopted in which the box portion and the flap are crimped.

[0028] With such a configuration, after the sealing process, in a state where the packing box is linearly conveyed, the lid portion can be crimped and fixed to the side surface of the packing box, and the standby time required for the conventional post - sealing crimping and fixing can be reduced.

[0029] In another aspect, in any of the aspects described above, the article is a semi - manufactured packing box. Further, a box - manufacturing device may be provided that forms the semi - manufactured packing box by bending the portions that should become the ridges of the sheet - like packing member, and transfers the semi - manufactured packing box to the main container.

[0030] With such a configuration, it is possible to realize a compact device that can continuously perform a series of processes from forming a packing box made from a sheet-like packing member, transferring it to the main container, filling the contents while conveying it on the circulation path, to sealing.

[0031] ≪Embodiment≫ The configuration of the conveying device 1 according to the embodiment will be described with reference to the drawings. Here, in this specification, the X direction, Y direction, and Z direction in each figure may be the width direction, depth direction, and height direction, respectively, and the positive direction of the height direction may be the "up" direction and the negative direction may be the "down" direction. Also, the scale of the members in each drawing is not necessarily the same as the actual one. Further, in this specification, the symbol "~" used when indicating a numerical range includes the numerical values at both ends. Also, the materials, numerical values, etc. described in this embodiment are merely examples of preferable ones and are not limited thereto. Also, appropriate changes can be made without departing from the scope of the technical idea of the present disclosure. Also, combinations of some of the configurations with other embodiments are possible as long as there is no contradiction.

[0032] <Regarding the configuration of the conveying device 1> The configuration of the conveying device 1 will be described with reference to the drawings. FIG. 1 is a plan view showing the configuration of the conveying device 1 according to the embodiment.

[0033] (Overall configuration) The conveying device 1 is a conveying device that conveys articles by a linear conveying method. In the conveying device 1, as the linear conveying means 15, a conveyor of a so-called linear conveying method that can independently control the conveyance of each of a plurality of movable modules 20 on the circulation path 10 using a linear motor is used. Also, in this embodiment, the aspect of the conveying device 1 will be described taking the packing box CT as an example of the article to be conveyed. However, the article to be conveyed may be, for example, containers of various products, products, parts, etc. other than the packing box CT.

[0034] As shown in Fig. 1, the conveying device 1 includes a linear conveying means 15 having a circulation path 10 and a plurality of movable modules 20, a container set 30, and a control unit 80. Further, on the circulation path 10, a box manufacturing unit 40, a product filling unit 50, a box sealing unit 60, and a transfer unit 70 are provided at different positions SP1, SP2, SP3, and SP4 on the circulation path 10, respectively.

[0035] With these configurations, in the conveying device 1 according to the embodiment, the box manufacturing unit 40 manufactures a packing box CT from a packing member CTx supplied thereto, conveys the packing box CT along the circulation path 10, fills the packing box CT with a product OB in the product filling unit 50, seals the packing box CT in the box sealing unit 60, and transfers the packing box CT containing the product OB outside the circulation path 10 in the transfer unit 70.

[0036] (Configuration of each part) Hereinafter, the configuration of each part in the conveying device 1 will be described.

[0037] [Circulation path 10, movable module 20, container set 30] The circulation path 10 is a loop-shaped circulation path composed of the stator of a linear motor. As shown in Fig. 1, the circulation path 10 functions as a guiding means for the movement of the container set 30 and is laid out in an oval shape having straight path portions 10a and 10c and curved path portions 10b and 10d in a plan view.

[0038] The movable module 20 is constituted by a mover of a linear motor that can move on the circulation path 10. A plurality of movable modules 20 are grouped in sets of three consecutive movable modules 20 on the circulation path 10. In this example, as shown in FIG. 1, the movable modules 20 are grouped into groups 20A, 20B, 20C, 20D, 20E (hereinafter, may also be collectively referred to as "group 20X"). The movable module 20 moves on the circulation path 10 in this group unit, and the packing box CT is conveyed by the groups 20A to 20E of the movable modules 20 for each conveyance unit (set to 1 in this example).

[0039] In the group 20X of the movable modules 20, three movable modules 20F, 20C, 20R that are consecutive in the moving direction move on the circulation path 10 while controlling the intervals between them along the moving direction (M1 to M5). In this specification, the movable modules 20 belonging to the same group are referred to as the second movable module 20F, the first movable module 20C, and the third movable module 20R in order from the front in the moving direction.

[0040] The container set 30 is carrier means for appropriately holding and conveying the packing box CT, and one set is mounted for each group 20X of the movable modules 20. FIG. 2(a) is a plan view of the group 20X of the movable modules 20 corresponding to the container set 30 on which the packing box CT is mounted, (b) is a front view, and FIG. 3 is a perspective view.

[0041] The packing box CT is a rectangular parallelepiped and is conveyed with the longitudinal direction as the moving direction. The packing box CT is made of, for example, cardboard and has a box part C TB and a lid part C TF extending from one piece of the opening edge of the box part C TB. The box part C TB is manufactured so that a part of the side surface overlaps on the side surface perpendicular to the longitudinal direction, and the overlapping part is adhesively fixed. The lid part C TF has a flap FL1 at the peripheral edge in the longitudinal direction and a flap FL2 at the peripheral edge perpendicular to the longitudinal direction. The packing box CT is sealed by adhesively fixing the flaps FL1 and FL2 to the side surface of the box part C TB.

[0042] The container set 30 is composed of a main container 31 arranged in the movable module 20C, and guide containers 32F and 32R respectively arranged in the movable module 20F and the movable module 20R.

[0043] The main container 31 supports the weight of the packing box CT and is configured in a shape on which the packing box CT can be placed. Further, in order to accommodate packing boxes CT and articles of different sizes, the main container 31 supports below the center of gravity of the article and has a shape and size capable of placing the article even when the size of the packing box CT is large.

[0044] The guide containers 32F and 32R are composed of L-shaped guide members and are arranged before and after in the moving direction of the main container 31. The L-shaped guide member is configured to press the side surface of the packing box CT placed on the main container 31 to support the packing box CT. It is preferable that the width of the L-shaped guide member in the direction perpendicular to the conveying direction is narrower than the width of the packing box CT in the same direction. Thereby, collision with the main container 31 described later can be avoided, and the packing box CT can be sufficiently pressed.

[0045] Further, the guide containers 32F and 32R may each be configured to be rotatable around a rotation axis parallel to the Z direction with respect to the movable module 20F and the movable module 20R. Thereby, for example, when the container set 30 moves along the curved path portion 10b of the circulation path 10, a state in which the guide containers 32F and 32R can easily follow the side surface of the packing box CT is constructed, and the entire side surface of the packing box CT can be pressed more uniformly.

[0046] The main container 31, the guide container 32F, and the guide container 32R are each configured to be carried along with the movable modules 20C, 20F, and 20R, respectively, and to be movable on the circulation path 10. The main container 31, the guide container 32F, and the guide container 32R are grouped together and controlled to operate in conjunction with each other. That is, the movable modules 20F, 20C, and 20R are each in a state where the main container 31, the guide container 32F, and the guide container 32R are mounted on their upper surfaces, and they move on the circulation path 10 in an apparently integrated manner, so that the container set 30 is conveyed on the circulation path 10 as a whole.

[0047] As described above, in the conveying device 1, the elements constituting the container set 30, that is, the main container 31 on which the packing box CT is placed, and the guide containers 32F and 32R that support the packing box CT from the front and rear in the moving direction, respectively, are each mounted on the movable modules 20F, 20C, and 20R that move on the circulation path 10 as a single group, and are configured to move in conjunction with each other on the circulation path 10.

[0048] With such a configuration, when changing the article to be conveyed to an article of a different size, for example, by changing the intervals between the movable modules 20F, 20C, and 20R in the control unit 80, it is possible to easily cope with the change in the size of the article only by changing the interval between the guide container 32F and the guide container 32R. Therefore, it is possible to provide a conveying device that can convey articles of different sizes by reducing the work of changing the type, which was conventionally necessary, of replacing a plurality of containers on the circulation path with containers adapted to the article after the change.

[0049] In addition, since the weight of the packing box CT is held by the main container 31 and the guide containers 32F and 32R support the packing box CT from the front and rear in the moving direction, it is possible to convey an article on a curved path, which was difficult with a conventional configuration of holding and conveying an article between two movers.

[0050] Furthermore, when moving the curved path portion 10b of the circulation path 10, by previously expanding the interval between the guide containers 32F and 32R more than during linear conveyance, it is possible to prevent in advance a collision between the guide containers 32F and 32R and the packing box CT due to the narrowing of the front-rear interval inside the diameter of the curved path portion 10b.

[0051] [Case manufacturing unit 40, product filling unit 50, case sealing unit 60, transfer unit 70] The case manufacturing unit 40 is a mechanism unit that manufactures a packing box CT from a supplied packing member CTx and transfers the manufactured packing box CT to the circulation path 10. The packing member CTx is, for example, made of cardboard developed in a sheet shape called wrap-round. The case manufacturing unit 40 includes transfer means 42 for carrying in (F1) the packing member CTx, and a case manufacturing device 41 that assembles a packing box CT from the packing member CTx and transfers it to the main container 31 stopped at the position SP1. The case manufacturing device 41 includes an assembly mechanism that applies adhesive paste to the pasting portion of the packing member CTx and bends the ridge line portion of the packing member CTx to form a box shape. Also, by the case manufacturing device 41, adhesive paste is applied to the surface of the flap of the lid on the box body.

[0052] The product filling unit 50 is a mechanism unit that fills the packing box CT on the circulation path 10 with the product OB. The product filling unit 50 includes, for example, transfer means 52 for carrying in (F2) the product OB, and a product filling device 51 that transfers the product OB to the packing box CT on the main container 31 stopped at the position SP2 and fills the packing box CT with the product OB. For the transfer device 71, an actuator such as a robot arm that adsorbs the product OB and transfers it to the packing box CT can be used.

[0053] The case sealing unit 60 is a mechanism unit that seals the packing box CT on the circulation path 10. The case sealing unit 60 includes a case sealing device 61 that closes the lid of the packing box CT on the main container 31 stopped at the position SP3 and adheres the flap of the lid and the side surface of the box. For the case manufacturing device 41, a case sealing mechanism that bends the lid of the packing box CT and presses the flap of the lid against the side surface of the box can be used.

[0054] The transfer unit 70 is a mechanism unit that transfers the packing box CT containing the product OB outside the circulation path 10. The transfer unit 70 includes a transfer device 71 that transfers the packing box CT containing the product OB on the main container 31 stopped at the position SP4 to the transfer means 72, and the transfer means 72 that carries out (F3) the packing box CT. An actuator such as a robot arm that sucks and moves the packing box CT can be used for the transfer device 71.

[0055] Also, the transfer means 42, 52, 72 may be those in which the belt is transmitted by the rotation of the motor, or may be those driven by a linear motor.

[0056] The control unit 80 is connected to the circulation path 10, the box manufacturing unit 40, the product filling unit 50, the box sealing unit 60, and the transfer unit 70, outputs a control signal, and controls the movement of the movable module 20 on the circulation path 10 and the operations of the respective units.

[0057] The transport device 1 having the above configuration manufactures the packing box CT from the supplied packing member CTx, transports the packing box CT along the circulation path 10, fills the packing box CT with the product OB, seals the lid of the packing box CT, and transfers the packing box CT containing the product OB outside the circulation path 10. With such a configuration, according to the transport device 1, a compact device capable of continuously carrying out a series of processes from the formation of the semi-manufactured packing box to the sealing can be realized.

[0058] [Details of the main container 31 and the movable module 20] Hereinafter, the details of the main container 31 and the movable module 20 will be described with reference to the drawings.

[0059] FIG. 4(a) is a view taken in the direction of arrow A in FIG. 1, and (b) is a sectional view taken in the direction of arrow B-B in FIG. 1.

[0060] As shown in Figs. 2(a)(b), 3, and 4(a)(b), the main container 31 includes a mounting table 311 on which the packing box CT is placed, a movable guide portion 312, a slide shaft 313 that slidably supports the movable guide portion 312 in the Y direction, a cam mechanism 314, and a mounting table stay 315 that connects the mounting table 311 and the container holding portion 21 of the movable module 20C.

[0061] According to the main container 31, the mounting table 311 is fixed to the container holding portion 21 of the movable module 20C by the mounting table stay 315. With the longitudinal direction of the packing box CT as the conveyance direction, the vertical portion 311b holds one side surface parallel to the longitudinal direction of the packing box CT, and the flat portion 311a supports the weight of the packing box CT. The movable guide portion 312 is configured to be slidable in the Y direction along the slide shaft 313, presses the other side surface parallel to the longitudinal direction of the packing box CT by a spring or the like, and the pressing is released by the cam mechanism 314. That is, the vertical portion 311b of the mounting table 311 and the movable guide portion 312 constitute a pair of gripping members configured to be relatively close to and separated from each other in a direction orthogonal to the conveyance direction of the movable module 20C. The packing box CT is placed on the main container 31 and is configured to be gripped by the vertical portion 311b of the mounting table 311 and the movable guide portion 312, which are a pair of gripping members.

[0062] Thereby, it becomes possible to crimp and hold the packing box CT in a direction orthogonal to the conveyance direction of the movable module 20C by the vertical portion 311b of the mounting table 311 and the movable guide portion 312. As a result, the main container 31 disposed in the movable module 20C enables the conveyance of articles of different sizes, and it is possible to reduce the change of the container type accompanying the change in the size of the article to be conveyed.

[0063] Here, the length Xa of the movable guide portion 312 in the conveyance direction (X direction) and the length Xb of the vertical portion 311b of the mounting table 311 in the conveyance direction (X direction) may be configured to be longer than the length Xc of the side surface parallel to the longitudinal direction (X direction) of the packing box CT. Thereby, when adhering and fixing the flap FL1 of the lid portion CTF to the side surface parallel to the longitudinal direction of the packing box CT in the post-sealing process, the entire length of the flap FL1 can be pressed by the movable guide portion 312.

[0064] As shown in FIG. 2(b), the circulation path 10 includes a guide rail 11 arranged in a loop shape, a plurality of electromagnetic coils 12 arranged in a row in the extending direction of the guide rail 11, and a linear encoder 13 extending in the extending direction of the guide rail 11.

[0065] As shown in FIG. 2(b), the movable module 20 is assembled to the circulation path 10 such that the base portion 22 is movably fitted to the guide rail 11 via a frustum-shaped or cylindrical roller 23. Further, a permanent magnet 24 is arranged at a position of the movable module 20 facing the electromagnetic coil 12 of the circulation path 10. With such a configuration, by sequentially changing the polarities of the electromagnetic coils 12 arranged in a row on the guide rail 11 along the conveyance direction, the movable module 20 equipped with the permanent magnet 24 can be moved in the conveyance direction.

[0066] The linear encoder 13 provided in the circulation path 10 detects the position of the movable module 20 and outputs it to a control unit 80 described later, and the electromagnetic coil 12 is driven and controlled by the control unit 80 based on the output from the linear encoder 13. That is, the control unit 80 sequentially detects the positions of the plurality of movable modules 20 on the circulation path 10 by the linear encoder 13, and can independently control the conveyance of each of the movable modules 20 based on the position information of each of the movable modules 20.

[0067] <Regarding the operation of the conveyance device 1> Next, the conveyance operation performed in the conveyance device 1 of the present embodiment will be described.

[0068] In the conveying device 1, the plurality of movable modules 20 are grouped in sets of three consecutive movable modules 20 on the circulation path 10 and conveyed. In FIG. 1, the groups of the movable modules 20 are denoted as 20A, 20B, 20C, 20D, and 20E. FIG. 5 is a process diagram showing an aspect of the conveying operation focusing on one group of the movable modules 20 in the conveying device 1.

[0069] Hereinafter, the operation of the conveying device 1 will be described by taking the group 20A of the movable modules 20 shown in FIG. 1 as an example.

[0070] In the operation of the conveying device 1, first, the box manufacturing process is performed (step S1). FIGS. 6(a) to (c) are schematic plan views for explaining the operation of the conveying device 1 in the box manufacturing process, and FIGS. 7(a) to (c) are schematic front views.

[0071] In the box manufacturing process, first, the group 20A of the movable modules 20 carrying the container set 30 stops on the circulation path 10 such that the center of the moving direction of the main container 31 is located at the position SP1 on the circulation path 10 (FIGS. 6(a) and 7(a)). At this time, each of the movable modules 20F, 20C, and 20R stops at a preset position such that the distance between the guide container 32F and the guide container 32R is 2×δa longer than the length of the packing box CT in the X direction. Here, δa may be 20 mm or more and 80 mm or less.

[0072] Also, in order to facilitate the placement of the packing box CT on the main container 31, the vertical portion 311b of the mounting table 311 and the movable guide portion 312 are relatively separated from each other by a width greater than or equal to the width of the packing box CT in a direction orthogonal to the conveying direction of the movable module 20C.

[0073] Next, the case-making unit 40 makes a packing box CT from the packing member CTx supplied through the transfer means 42, and transfers the made packing box CT to the mounting table 311 of the main container 31 with the lid open (FIGS. 6(b) and 7(b)). Further, after the packing box CT is transferred from the case-making device 41 to the main container 31, the vertical portion 311b of the mounting table 311 and the movable guide portion 312 approach relatively in a direction orthogonal to the transport direction of the movable module 20C (Ma). That is, after the packing box CT is mounted on the main container 31, it is gripped by the vertical portion 311b of the mounting table 311 and the movable guide portion 312.

[0074] Thereby, it is possible to facilitate the transfer of the packing box CT to the main container 31 and to realize a configuration for gripping and crimping and holding the transferred packing box CT.

[0075] In case-making, the case-making device 41 applies an adhesive paste to the pasting portion of the packing member CTx, and bends the portion to be the ridge line of the sheet-like packing member CTx to form it into a box shape. At this time, the box portion CTB is case-made such that a part of the pasted side surface overlaps on the side surface perpendicular to the transport direction, and the overlapping portion is later adhesively fixed. Further, an adhesive paste is applied to the surfaces of the flaps FL1 and FL2 of the lid portion CTF.

[0076] Also, in transfer, since the interval between the guide containers 32F and 32R is set to be longer than the length of the packing box CT in the transport direction, the packing box CT can be easily mounted on the container 31.

[0077] Next, after the packing box CT is mounted on the main container 31, the movable modules 20F, 20C, and 20R approach relatively until the interval between the guide containers 32F and 32R becomes equivalent to the length of the packing box CT in the transport direction (M6) (FIGS. 6(c) and 7(c)).

[0078] Next, in the linear path portion 10a of the circulation path 10, a linear transport process (M1) is performed (step S2). FIG. 8(a) is a schematic plan view for explaining the operation of the transport device 1 in the linear transport process, and (b) is a schematic front view.

[0079] In the linear conveyance process, the group 20A of the movable modules 20 carrying the container set 30 moves in the M1 direction along the linear path portion 10a of the circulation path 10. At this time, in the linear path portion 10a, in order to press the bonded portion where a part of the side surface perpendicular to the longitudinal direction of the box portion CTB is overlapped and glued, the interval of 32R maintains a state equivalent to the length in the conveyance direction of the packing box CT, and the movable modules 20F, 20C, and 20R are relatively close to each other, and the group 20A of the movable modules 20 is conveyed (FIGS. 8(a) and (b)). That is, in the linear conveyance process (M1), the movable module 20F advances by a first distance defined from the movable module 20C, and the position of the packing box CT in the forward direction of the moving direction is regulated by the guide container 32F. The movable module 20R trails by a second distance defined from the movable module 20C, and is controlled so that the position of the packing box CT in the backward direction of the moving direction is regulated by the guide container 32R. Thereby, in a state where the packing box CT is linearly conveyed (M1) to the linear path portion 10a after the box manufacturing process, the portion where a part of the side surface perpendicular to the longitudinal direction of the box portion CTB is overlapped and glued can be pressure-fixed, and the standby time for the pressure-fixing, which was conventionally required, can be reduced.

[0080] Next, in the curved path portion 10b of the circulation path 10, a curved conveyance process (M2) is performed (step S3). FIG. 9(a) is a schematic plan view for explaining the operation of the conveyance device 1 in the curved conveyance process, and (b) is a schematic front view.

[0081] In the curved conveyance process, the group 20A of the movable modules 20 carrying the container set 30 moves the curved path section 10b of the circulation path 10 in the M2 direction. At this time, in the curved path section 10b, the distance between the guide containers 32F and 32R and the packing box CT narrows on the radially inner side (the upper side on the paper surface of FIG. 9(a)) of the curved path section 10b of the circulation path 10. Therefore, in order to prevent collision between the guide containers 32F and 32R and the packing box CT, the interval between the guide containers 32F and 32R is increased in advance compared to the linear conveyance process. Specifically, the group 20A of the movable modules 20 is conveyed in a state where the movable modules 20F, 20C, and 20R are relatively separated from each other such that the interval between the guide containers 32F and 32R is 2×δb longer than the length in the conveyance direction of the packing box CT on the center line in the width direction of the circulation path 10 (FIGS. 9(a) and (b)). That is, in the curved conveyance process (M2), the movable module 20F precedes the movable module 20C by a third distance longer than the above-described first distance, so that the guide container 32F restricts the position of the packing box CT in the forward direction of the moving direction, and the movable module 20R follows the movable module 20C by a fourth distance longer than the above-described second distance, so that the guide container 32R controls the position of the packing box CT in the backward direction of the moving direction. Here, δb may be 20 mm or more and 80 mm or less.

[0082] Next, the product filling process is performed (step S4). FIGS. 10(a) and (b) are schematic plan views for explaining the operation of the conveyance device 1 in the product filling process, and FIGS. 11(a) and (b) are schematic front views.

[0083] In the product filling process, first, the group 20A of the movable modules 20 stops on the circulation path 10 so that the center in the moving direction of the main container 31 is located at the position SP2 in the circulation path 10 (FIG. 10(a), FIG. 11(a)). At this time, in order to prevent deformation of the packing box CT due to product filling, the group 20A of the movable modules 20 stops in a state where the movable modules 20F, 20C, and 20R are relatively close to each other such that the interval between the guide containers 32F and 32R is equivalent to the length in the conveyance direction of the packing box CT.

[0084] Next, the product filling unit 50 transfers the product OB supplied through the transfer means 52 into the packing box CT (F21) (FIGS. 10(b) and 11(b)). The packing box CT is placed on the mounting table 311 of the main container 31 with the lid open. At this time, the deformation of the packing box CT due to product filling is suppressed by being restricted by the guide containers 32F and 32R.

[0085] Next, in the straight path portion 10c of the circulation path 10, a straight transfer process (M3) is performed (step S5). The operation of the transfer device 1 in the straight transfer process (M3) is the same as that in step S2.

[0086] Next, a sealing process is performed (step S6). FIGS. 12(a) to (c) are schematic plan views for explaining the operation of the transfer device 1 in the sealing process, and FIGS. 13(a) to (c) are schematic front views.

[0087] In the sealing process, first, the group 20A of the movable modules 20 stops on the circulation path 10 so that the center of the main container 31 in the moving direction is located at the position SP3 in the circulation path 10 (FIGS. 12(a) and 13(a)). At this time, in order to bend the flap FL2 of the lid portion CTF of the packing box CT downward during sealing, each of the movable modules 20F, 20C, and 20R stops at a preset position so that the distance between the guide container 32F and the guide container 32R is longer than the length of the packing box CT in the conveying direction. At this time, the distance between the guide container 32F and the guide container 32R is configured to be 2×δc longer, and it is necessary that δc is larger than the length of the flap FL2 of the lid portion CTF of the packing box CT.

[0088] Also, in order to bend the flap FL1 of the lid portion CTF of the packing box CT downward during sealing, the movable guide portion 312 of the main container 31 moves along the slide shaft 313 by the cam mechanism 314 in a direction away from the packing box CT. Here, the distance δd between the movable guide portion 312 and the packing box CT needs to be larger than the length of the flap FL1 of the lid portion CTF of the packing box CT in the Y direction.

[0089] Next, the enclosure unit 60 bends the lid portion CTF of the packing box CT on the main container 31 from the portion of the opening edge of the box portion CTB, and covers the lid portion CTF over the packing box CT that encloses the product OB (M71). After that, the flaps FL1 and FL2 of the lid portion CTF of the packing box CT are bent downward from the root, and the flaps FL1 and FL2 are pressed against the side surface of the packing box CT (M72) (FIGS. 12(b) and 13(b)). At this time, since the guide containers 32F, 32R, and the movable guide portion 312 are separated from the packing box CT respectively, the tips of the flaps FL1 and FL2 of the lid portion CTF do not contact the guide containers 32F, 32R, and the movable guide portion 312, and the flaps FL1 and FL2 can be bent smoothly.

[0090] Since the adhesive paste is applied to the flaps FL1 and FL2 in the case-making process (step S1), when the flaps FL1 and FL2 are pressed against the side surface of the lid portion CTF, the lid portion CTF is temporarily fixed to the side surface of the packing box CT.

[0091] Next, the movable modules 20F, 20C, and 20R approach relatively until the interval between the guide containers 32F and 32R becomes equivalent to the length in the transport direction of the packing box CT (M8). Also, until the movable guide portion 312 of the main container 31 contacts the packing box CT, the movable guide portion 312 is moved along the slide shaft 313 by the cam mechanism 314 (M9) (FIGS. 12(c) and 13(c)).

[0092] In this state, by the guide container 32F and the guide container 32R, the flap FL2 of the lid portion CTF is pressed against the side surface of the packing box CT, and by the movable guide portion 312, the flap FL1 of the lid portion CTF is pressed against the side surface of the packing box CT, whereby the lid portion CTF is pressure-fixed to the side surface of the packing box CT.

[0093] Next, in the linear path portion 10c of the circulation path 10, an adhesion process (linear conveyance process (M4)) is performed (step S7). The operation of the conveyance device 1 in the adhesion process (linear conveyance process (M4)) is the same as that in step S2.

[0094] Here too, the distance between the guide containers 32F and 32R is maintained in a state equivalent to the length in the conveyance direction of the packing box CT, and the group 20A of the movable modules 20 is conveyed while the movable modules 20F, 20C, and 20R are relatively close to each other. That is, in the linear conveyance process (M4), similar to the linear conveyance process (M1), the movable module 20F is controlled to precede the movable module 20C by the above-described first distance, and the movable module 20R is controlled to follow the movable module 20C by the above-described second distance. Therefore, the state where the movable guide portion 312 of the main container 31 is in contact with the packing box CT is maintained, and the state where the flap FL2 of the lid portion CTF is pressed against the side surface of the packing box CT by the guide containers 32F and 32R is maintained. At the same time, the state where the flap FL1 of the lid portion CTF is pressed against the side surface of the packing box CT by the movable guide portion 312 is also maintained. As a result, after the sealing process, with the packing box CT linearly conveyed (M4) to the linear path portion 10a, the flaps FL1 and FL2 of the lid portion CTF can be pressure-fixed to the side surface of the packing box CT, and the standby time required for the conventional pressure-fixing can be reduced.

[0095] Next, a transfer process is performed (step S8). FIGS. 14(a) to (c) are schematic plan views for explaining the operation of the conveyance device 1 in the transfer process, and FIGS. 15(a) to (c) are schematic front views.

[0096] In the transfer process, first, the group 20A of the movable modules 20 stops on the circulation path 10 such that the center in the moving direction of the main container 31 on which the packing box CT containing the product OB is placed is located at the position SP4 in the circulation path 10 (FIGS. 14(a) and 15(a)).

[0097] Next, in order to prevent a collision between the packing box CT and the guide containers 32F and 32R when transferring the packing box CT, the movable modules 20F and 20R are moved in a direction away from the movable module 20C so that the distance between the guide container 32F and the guide container 32R is 2×δe longer than the length of the packing box CT in the conveying direction (M10).

[0098] Also, in order to prevent a collision between the packing box CT and the movable guide portion 312 of the main container 31, the movable guide portion 312 is moved along the slide shaft 313 by the cam mechanism 314 in a direction away from the packing box CT until the distance from the packing box CT becomes δf (M11) (FIGS. 14(b) and 15(b)). Here, δe and δf may be 50 mm or less.

[0099] Next, the transfer unit 70 transfers the packing box CT containing the product OB to the transfer means 72 outside the circulation path 10 (FIGS. 14(c) and 15(c)). The packing box CT placed on the transfer means 72 is carried out to the subsequent process.

[0100] Next, in the curved path portion 10d of the circulation path 10, a curved conveying process (M5) is performed (step S9). The operation of the conveying device 1 in the curved conveying process (M5) is the same as that in step S3.

[0101] Finally, the group 20A of the movable modules 20 returns to the initial position, and the center of the main container 31 in the moving direction stops on the circulation path 10 so as to be located at the position SP1 in the circulation path 10 (step S10). Similar to FIGS. 6(a) and 7(a), each of the movable modules 20F, 20C, and 20R stops at a preset position so that the distance between the guide container 32F and the guide container 32R is 2×δa longer than the length of the packing box CT in the conveying direction.

[0102] Through the above steps, in the conveying device 1, the packaging box CT is manufactured from the supplied packaging member CTx, the packaging box CT is conveyed along the circulation path 10, the product OB is filled into the packaging box CT, the lid of the packaging box CT is sealed, and the operation of transferring the packaging box CT containing the product OB outside the circulation path 10 is performed.

[0103] <Summary> As described above, the conveying device 1 according to the embodiment is a conveying device 1 that conveys the packaging box CT, and includes a circulation path 10 and a plurality of movable modules 20 that can move on the circulation path 10. A part of the plurality of movable modules 20 has a pair of gripping members 311 and 312 configured to be able to approach and separate relatively, and a main container 31 on which the packaging box CT can be placed is provided. The packaging box CT is placed on the main container 31 and is conveyed on the circulation path 10 while being gripped by the pair of gripping members 311 and 312.

[0104] With such a configuration, by crimping and holding the packaging box CT, it is possible to provide a conveying device that does not require a change in the container type due to a change in the size of the packaging box CT to be conveyed, and can convey packaging boxes CT of different sizes.

[0105] In another aspect, in any of the aspects described above, the pair of gripping members 311 and 312 may be configured to be able to approach and separate in a direction perpendicular to the conveying direction of the movable module 20. Also, the pair of gripping members 311 and 312 may be configured to be pressed by an elastic member and approach each other. With such a configuration, it becomes possible to crimp and hold the packaging box CT in a direction perpendicular to the conveying direction of the movable module 20 by the pair of gripping members 311 and 312. As a result, the main container 31 disposed on the movable module 20 enables the conveyance of packaging boxes CT of different sizes, and the change in the container type associated with the change in the size of the packaging box CT to be conveyed can be reduced.

[0106] In another aspect, the packaging box CT is a semi-finished packaging box CT. When the packaging box CT is transferred from the box-making device 41 to the main container, the gripping members 311 and 312 are separated. After the packaging box CT is transferred to the main container 31, the gripping members 311 and 312 approach each other to grip the packaging box CT. With such a configuration, it is possible to facilitate the transfer of the packaging box CT to the main container 31 and to realize a configuration for gripping and crimping and holding the transferred packaging box CT.

[0107] In another aspect, in any of the aspects described above, the plurality of movable modules 20 move on the circulation path 10 in a group unit including a movable module 20C provided with the main container 31, a movable module 20F and a movable module 20R respectively located before and after the moving direction of the movable module 20C. Guide containers 32F and 32R capable of holding the sides of the packaging box CT mounted on the main container 31 are respectively arranged on the second movable module 20F and the third movable module 20R. The second movable module 20F supports the packaging box CT from the front in the moving direction by the guide container 32F, and the third movable module 20R supports the packaging box CT from the rear by the guide container 32R. The packaging box CT may be configured to be conveyed by the group of the movable modules 20 for each conveyance unit of the packaging box CT.

[0108] With such a configuration, in the conveying device 1, the elements constituting the container set 30, that is, the main container 31 on which the packaging box CT is mounted and the guide containers 32F and 32R that support the packaging box CT from the front and rear in the moving direction respectively, are mounted on the movable modules 20F, 20C, and 20R that move on the circulation path 10 as one group and move in conjunction with each other on the circulation path 10.

[0109] Therefore, when changing the article to be conveyed to articles of different sizes, for example, by changing the intervals between the movable modules 20F, 20C, and 20R in the conveyance control, and only changing the interval between the guide container 32F and the guide container 32R, it is possible to easily cope with the change in the size of the article. Therefore, it is possible to reduce the type change work of replacing a plurality of containers on the circulation path with containers adapted to the article after the change, which was necessary in the prior art. As a result, by crimping and holding the packing box CT, it is not necessary to change the type of the container accompanying the change in the size of the packing box CT to be conveyed, and it is possible to convey packing boxes CT of different sizes.

[0110] Further, since the weight of the packing box CT is held by the main container 31 and the guide containers 32F and 32R support the packing box CT from the front and rear in the moving direction, it was difficult in the prior art to convey an article on a curved path with a configuration in which an article is held and conveyed between two movers. However, with this configuration, it becomes possible to convey an article on a curved path.

[0111] In another aspect, in any of the aspects described above, on the circulation path 10, when the movable module 20F moves in a curve, the distance between the movable module 20F and the movable module 20C is longer than when it moves in a straight line. Also, on the circulation path, when the movable module 20R moves in a curve, the distance between the movable module 20R and the movable module 20C may be longer than when it moves in a straight line.

[0112] With such a configuration, when moving through the curved path portion 10b of the circulation path 10, by expanding the interval between the guide containers 32F and 32R in advance compared to when moving in a straight line, it is possible to prevent the guide containers 32F and 32R from colliding with the packing box CT due to the narrowing of the front and rear intervals inside the diameter of the curved path portion 10b.

[0113] In another aspect, in any of the aspects described above, the packaging box CT is a packaging box CT having a box part CTB and a lid part CTF extending from one piece of the opening edge of the box part CTB. Further, a sealing device 61 is provided that closes the lid part CTF of the packaging box CT filled with products and conveyed on the circulation path 10, bends the flap FL2 of the lid part CTF, and adheres the box part CTB and the flap FL2 of the lid part CTF to seal the packaging box CT. After sealing, when the movable module 20C moves linearly, the guide containers 32F and 32R provided on the movable module 20F and the movable module 20R may be configured to press the flap FL2 of the lid part CTF in the packaging box CT from the front and the rear, respectively, to crimp the box part CTB and the flap FL2.

[0114] With such a configuration, after the sealing process, with the packaging box CT linearly conveyed (M4) on the linear path part 10c, the flap FL2 of the lid part CTF can be crimped and fixed to the side surface of the packaging box CT, and the waiting time for crimping and fixing after sealing, which was conventionally required, can be reduced.

[0115] In another aspect, in any of the aspects described above, the packaging box CT is a packaging box CT having a box part CTB. Further, an adhesive paste is applied to the pasting part of the sheet-like packaging member CTx, the part that should become the ridge line of the packaging member CTx is bent to form the box part CTB, and a box-making device 41 is provided that adheres the pasting part in the box part CTB to make the packaging box CT. After box-making, when the movable module 20C moves linearly, the guide containers 32F and 32R provided on the movable module 20F and the movable module 20R may be configured to press the box part CTB in the packaging box CT from the front and the rear, respectively, to crimp the adhered part of the box part CTB.

[0116] With such a configuration, after the box-making process, with the packaging box CT linearly conveyed (M1) on the linear path part 10a, the pasting part perpendicular to the longitudinal direction of the box part CTB can be crimped and fixed, and the waiting time for crimping and fixing after box-making, which was conventionally required, can be reduced.

[0117] <<Modification Example>> The apparatus according to the embodiment has been described. However, the present disclosure is not limited to the above embodiments except for its essential characteristic components. For example, forms obtained by making various modifications that those skilled in the art can come up with to the embodiments, and forms realized by arbitrarily combining the components and functions in each embodiment without departing from the spirit of the present invention are also included in the present disclosure. Below, as an example of such a form, Conveyance Conveying device

[0118]

[0119] In the above embodiment, in the conveying device 1, on the premise that the sizes of the target articles to be supplied are common, the movable modules 20F, 20C, and 20R equipped with the container set 30 move in conjunction as a single group on the circulation path 10 while maintaining a distance suitable for the sizes of the target articles to be supplied. However, when there are a plurality of sizes of the target articles to be supplied, a configuration may be adopted in which the intervals between the movable modules 20F, 20C, and 20R are set stepwise to conform to the individual article sizes. With such a configuration, even when articles of different sizes are sequentially supplied, the articles can be conveyed according to the intervals of the movable modules 20 that are suitable for the individual articles, and it becomes possible to convey a mixture of articles of multiple varieties.

[0119] <<Supplementary Explanation>> All of the embodiments described above show preferred specific examples of the present invention. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, processes, order of processes, etc. shown in the embodiments are examples and are not intended to limit the present invention. Also, among the components in the embodiments, those not described in the independent claims indicating the uppermost concept of the present invention are described as optional components constituting a more preferred form.

[0120] Also, the order in which the above method is executed is for illustration in order to specifically describe the present invention, and other orders may be used. Also, a part of the above method may be executed simultaneously (in parallel) with other methods.

[0121] Also, for ease of understanding of the invention, the scales of the components in each of the figures cited in the above embodiments may be different from the actual ones. Further, the present invention is not limited by the descriptions of the above embodiments and can be appropriately modified without departing from the gist of the present invention.

[0122] Also, at least a part of the functions of each of the embodiments and their modified examples may be combined.

Industrial Applicability

[0123] The conveying device according to one aspect of the present disclosure can be used as a conveying device for conveying articles such as products, parts, workpieces, packages, and various containers in a manufacturing line or the like. Further, it can also be suitably used as a conveying device for conveying packaged luggage and parcels in various logistics and the like.

Explanation of Signs

[0124] 1 Conveying device 15 Linear conveying means 10 Circulation path (stator) 11 Guide rail 12 Electromagnetic coil 13 Linear encoder 20 Movable module (rotor) 20C Movable module (rotor) 20F, 20R Movable module (rotor) 21 Container holding part 22 Base part 23 Wheel 24 Permanent magnet 30 Container set 31 Main container 311 Mounting table 312 Movable guide part 313 Slide shaft 314 Cam mechanism 315 Mounting table stay 32F Guide container 32R Guide container 40 Manufacturing unit 41 Case manufacturing device 42 Transfer means 50 Product filling unit 51 Product filling device 52 Product loading conveyor 60 Sealing unit 61 Sealing device 70 Transfer unit 71 Transfer device 72 Unloading conveyor 80 Control unit OB article CT packing box

Claims

1. A conveying device for conveying an article, comprising: a circulation path; a plurality of movable modules movable on the circulation path, wherein a part of the plurality of movable modules has a pair of gripping members configured to be relatively close to and separated from each other, and a main container on which the article can be placed is provided. The article is placed on the main container and conveyed on the circulation path while being gripped by the pair of gripping members. The plurality of movable modules move on the circulation path in a group unit composed of a first movable module provided with the main container and second and third movable modules respectively positioned before and after the first movable module in the moving direction. Guide containers capable of holding the sides of the article placed on the main container are respectively arranged on the second and third movable modules. The second movable module supports the article from the front in the moving direction by the guide container, and the third movable module supports the article from the rear by the guide container. The article is conveyed by the group of the movable modules for each conveying unit of the article. Conveying device.

2. The article is a packing box having a box part and a lid part extending from one piece of the opening edge of the box part, further comprising a sealing device for closing the lid part of the packing box filled with products and conveyed on the circulation path, folding the flap of the lid part, and adhering the box part and the flap of the lid part to seal the packing box. After the sealing, when the first movable module moves linearly, the guide containers provided on the second and third movable modules press the flaps located in the front and rear of the flap of the lid part in the packing box from the front and rear respectively, so as to crimp the box part and the flap. The conveying device according to claim 1.

3. On the circulation path, when the second movable module moves in a curve, the distance from the first movable module is longer than when it moves linearly. On the circulation path, when the third movable module moves in a curve, the distance from the first movable module is longer than when it moves linearly. The conveying device according to claim 1 or 2.

4. The article is a semi-finished packing box. Furthermore, it is provided with a box-making device that forms the semi-finished box by bending the portion that should become the ridge line of the packaging member of the sheet-shaped packaging member, and transfers the semi-finished box to the main container. The conveying device according to claim 1.

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