Conveyance device

Abstract

Provided is a highly reliable conveyance device capable of delivering a workpiece to a downstream process in an appropriate posture and at an appropriate timing. The conveyance device conveys the workpiece while changing a conveyance posture of the workpiece and the distance between the workpieces. The conveyance device has: a frame that is rotated around a first rotation axis; a plurality of arms; a plurality of pads that hold the workpiece; a first detection unit; and a deviation detection unit. The plurality of arms are attached side by side to the frame along the circumferential direction about the first rotation axis, and each swing with respect to the frame around a swing axis corresponding to each arm extending in parallel with the first rotation axis. Each of the plurality of pads is attached to a base connected to the corresponding arm. The first detection unit detects a first rotation angle, which is a rotation angle of the frame about the first rotation axis. The deviation detection unit detects a deviation of the position of the frame from a normal position on the basis of the first rotation angle before the start of operation of the conveyance device.

Description

Transfer device

[0001] The present invention relates to a transfer device that transfers a workpiece while changing the transfer posture of the workpiece and the distance between workpieces.

[0002] Conventionally, a transfer device that transfers a workpiece while changing the transfer posture of the workpiece and the distance between workpieces, as disclosed in Patent Document 1 (Japanese Patent Translation Publication No. 2015-530931), is known.

[0003] By using such a transfer device, a compact device can transfer the workpiece to the downstream side of the transfer device (for example, a transfer device that transfers the workpiece to the next process and is arranged downstream) in a desired posture and timing.

[0004] Patent Document 1 (Japanese Patent Translation Publication No. 2015-530931)

[0005] However, when using such a transfer device, if the operation timing of the arm supporting the pad is shifted for some reason, there is a possibility that the workpiece cannot be delivered to the downstream process in an appropriate posture and timing.

[0006] An object of the present invention is to provide a highly reliable transfer device that can deliver a workpiece to a downstream process in an appropriate posture and timing.

[0007] The conveying device of the present invention conveys workpieces one after another while changing the conveying orientation of the workpieces and the distance between workpieces. The conveying device comprises a frame, a first drive unit, a plurality of arms, a plurality of pads for holding workpieces, a second drive unit, a control unit, a first detection unit, a second detection unit, and a displacement detection unit. The first drive unit rotates the frame around a first rotation axis. The plurality of arms are mounted on the frame in a line along the circumferential direction around the first rotation axis. Each of the plurality of arms swings relative to the frame around a corresponding pivot axis that extends parallel to the first rotation axis. Each of the plurality of pads is attached to a base connected to a corresponding arm. A second drive unit is provided for each of the plurality of arms. The second drive unit swings the pad attached to the base connected to the corresponding arm relative to the frame by swinging the corresponding arm around its pivot axis. The control unit controls the operation of the first drive unit and the plurality of second drive units provided for the plurality of arms. The control unit synchronously controls multiple second drive units in accordance with the operation of the first drive unit, at least during normal operation in which the conveying device is transporting the workpiece. The first detection unit detects the first rotation angle, which is the rotation angle of the frame around the first rotation axis. The second detection unit detects the oscillation angle of multiple arms around their oscillation axes. The displacement detection unit detects the displacement of the frame's position from its normal position based on the first rotation angle before the start of normal operation of the conveying device.

[0008] The present invention enables a highly reliable conveying device that can prevent workpieces from being transferred to downstream processes in an inappropriate posture or timing, by detecting whether the frame supporting the workpiece-holding pads is positioned correctly before the conveying device starts operation.

[0009] This is a schematic front view showing a conveying device according to the first embodiment of the present invention. This is a schematic right side view of the conveying device of Figure 1A. These are sequential diagrams showing the bases and pads positioned at each location (indicated by Roman numerals I to X) in Figure 1A at a given moment during normal operation of the conveying device, viewed along the radial direction of the conveying device. This is a block diagram of the conveying device of Figure 1A. This is a flowchart of the pad reference positioning process of the conveying device of Figure 1A. This is a schematic diagram illustrating the pad reference positioning process of the conveying device of Figure 1A. This is a flowchart of the arm reference positioning process of the conveying device of Figure 1A. This is a schematic diagram illustrating the arm reference positioning process of the conveying device of Figure 1A. This is a flowchart of the operation preparation process of the conveying device of Figure 1A. This is a schematic configuration diagram showing the state of the arm and pads when the pads of the conveying device of Figure 1A are replaced. This is a schematic top view of the conveying device according to the second embodiment of the present invention. This is a block diagram of the conveying device of Figure 8.

[0010] Embodiments of the conveying device of the present invention will be described below with reference to the drawings. Note that the embodiments and drawings described below are for illustrative purposes only and do not limit the scope of the present invention.

[0011] <First Embodiment> (1) Overall Overview The conveying device 100 according to the first embodiment (see Figures 1A and 1B) is a device that conveys workpieces W2 one after another while changing the conveying posture of the workpieces W2 and the distance between the workpieces W2. The conveying device 100 is used to convey wearable items such as disposable pants or diapers, or components that make up wearable items. Specifically, the conveying device 100 conveys, for example, absorbent items placed in the crotch area of ​​a diaper wearer, or waist members placed around the waist of a diaper wearer, as workpieces W2.

[0012] As shown in Figure 1A, the conveying device 100 of this embodiment cuts the web W1 (a web W1 in which workpieces W2 are connected in the conveying direction) received from the upstream web supply device 300 to manufacture (cut out) workpieces W2, conveys the manufactured workpieces W2, and passes the workpieces W2 to a downstream device (for example, a second conveying device 400). However, it is not limited to this, and the conveying device of the present invention may be a device that receives workpieces W2 (instead of cutting the web W1 to manufacture workpieces W2) and conveys the workpieces W2.

[0013] The conveying device 100 has a first drive unit 112, a second drive unit 122, and a third drive unit 142 for conveying and changing the orientation of the workpiece W2 (see Figure 3). The first drive unit 112 rotates the pads 140 that hold the workpiece W2 around a first rotation axis A1 (see Figure 1A) to convey the workpiece W2 manufactured from the web W1 downstream. The third drive unit 142 changes the conveying orientation of the workpiece W2 by rotating each pad 140 around a second rotation axis A2 (an axis extending roughly radially with respect to the first rotation axis A1) (see Figures 1A and 2). Note that in Figure 1A, only one second rotation axis A2 is drawn for the sake of clarity. The second drive unit 122 swings the pads 140 around a swing axis A3 (see Figure 1A) that extends parallel to the first rotation axis A1 to change the distance between the workpiece W2 conveyed by the pads 140.

[0014] With this configuration, the transport device 100 can transfer the workpiece W2 to the second transport device 400 in the desired orientation and timing.

[0015] (2) Configuration of the conveying device The detailed configuration of the conveying device 100 will be described below.

[0016] In the following explanation, terms such as up, down, left, right, front (front view), and back (rear view) may be used, but these expressions are used for convenience of explanation and do not limit the present invention. Furthermore, terms such as up, down, left, right, front (front view), and back (rear view) follow the direction of the arrows in the figures.

[0017] The transport device 100 mainly comprises a frame 110, multiple arms 120, multiple bases 130, multiple pads 140, multiple anvils 180, a cutting device 190, a first drive unit 112, multiple second drive units 122, multiple third drive units 142, a first detection unit 116, a second detection unit 126, a third detection unit 144, a pad detection unit 170, and a control device 200 (see Figures 1A, 1B, and 3).

[0018] In Figures 1A and 2, the transport device 100 has 10 arms 120, 10 bases 130, 10 pads 140, 10 second drive units 122, 10 third drive units 142, and 9 anvils 180. However, the number of components shown in Figures 1A and 2 is merely an example, and can be appropriately selected within a range that does not contradict the original. In this embodiment of the transport device 100, anvils 180 are arranged between adjacent arms 120. Therefore, when this configuration is adopted, the number of anvils 180 will be one less than the number of arms 120. In Figure 1A, to avoid making the drawing too complex, the drawing of all but one anvil 180 has been omitted.

[0019] The pad 140 is attached to the base 130 directly or indirectly (via other components). The pad 140 is a component that holds the web W1 and the workpiece W2. Specifically, the pad 140 has a holding surface 141 (see Figure 1B) on its outer circumference as viewed from the first rotation axis A1, and the holding surface 141 has an air intake hole (not shown) for drawing in air. The pad 140 is connected to a suction device such as a vacuum pump, and holds the web W1 and workpiece W2 by drawing in air through the air intake hole.

[0020] Preferably, the pad 140 is interchangeably attached to the base 130. Specifically, it is preferable that the size of the pad 140 attached to the base 130 is changeable. With this configuration, the transport of workpieces W2 of different sizes can be handled by a single transport device 100.

[0021] In a front view, the frame 110, which is roughly circular in shape, is driven by the first drive unit 112 and rotates around the first rotation axis A1 in the direction of arrow D (see Figure 1A). The first drive unit 112 is, for example, a servo motor.

[0022] The frame 110 is mainly fitted with multiple arms 120, multiple bases 130, multiple pads 140, multiple anvils 180, multiple second drive units 122, multiple third drive units 142, etc. As the first drive unit 112 rotates the frame 110, the multiple arms 120, multiple bases 130, multiple pads 140, multiple anvils 180, multiple second drive units 122, and multiple third drive units 142 attached to the frame 110 also rotate around the first rotation axis A1. Specifically, as the frame 110 rotates, the pads 140 that hold the workpiece W2 also rotate, and the workpiece W2 held by the pads 140 is conveyed to the downstream second conveying device 400. Also, as the frame 110 rotates, the anvils 180 rotate along a circular orbit centered on the first rotation axis A1.

[0023] Multiple arms 120 are mounted on the frame 110 in a line along the circumferential direction around the first rotation axis A1. Each of the multiple arms 120 is driven by a second drive unit 122 provided for each arm 120, causing it to oscillate relative to the frame 110 around a corresponding pivot axis A3 that extends parallel to the first rotation axis A1 (see Figure 1A). The second drive unit 122 is, for example, a servo motor. The pivot axes A3 of the multiple arms 120 are arranged at equal angular pitches on a virtual circle centered on the first rotation axis A1. The spacing between the pivot axes A3 of each arm 120 is constant, and the pivot axes A3 of the arms 120 rotate together with the frame 110 at the same angular velocity as the frame 110.

[0024] Each arm 120 includes a crank arm 123 and a linkage mechanism 124, as shown in Figure 1A. In Figure 1A, reference numerals are only used for parts of the crank arm 123 and the linkage mechanism 124 to avoid making the drawing too complex.

[0025] The crank arm 123 is connected at one end directly or indirectly (via other members) to the output shaft of the corresponding second drive unit 122, and at the other end to a link mechanism 124. The corresponding base 130 is pin-connected to the link mechanism 124. When the second drive unit 122 is driven, the crank arm 123 swings around the pivot axis A3. In this disclosure, the term "swing direction of arm 120" may be used, but this means the swing direction of the crank arm 123.

[0026] Each base 130 connected to the arm 120 in the link mechanism 124 is displaced in conjunction with the swing of the crank arm 123.

[0027] Specifically, when the crank arm 123 swings, the base 130 is displaced circumferentially with respect to the swing axis A3 of the crank arm 123, so that the distance between adjacent bases 130 in the circumferential direction around the first rotation axis A1 changes. As a result, the pads 140 attached to the base 130 also swing relative to the frame 110, and the distance between adjacent pads 140 in the circumferential direction changes.

[0028] Furthermore, in this embodiment, when the crank arm 123 swings, the base 130 is also displaced radially around the first rotation axis A1 due to the action of the link mechanism 124. Specifically, in the vicinity of the cutting device 190 that cuts the web W1 (upper side of the conveying device 100), the pad 140 is moved to a side relatively close to the first rotation axis A1 so as to approach the anvil 180. On the other hand, in the vicinity of the second conveying device 400 (lower side of the conveying device 100, as explained using Figure 1), the pad 140 is positioned relatively far from the first rotation axis A1 so as to move away from the anvil 180 (so that the arm 120 does not come into contact with the anvil 180 when adjacent arms 120 come into close proximity). With this configuration, when the conveying device 100 is viewed from the front (as shown in Figure 1A), the pad 140 moves along a roughly arc-shaped trajectory that is eccentric with respect to the first rotation axis A1 (in the example shown in Figure 1A, eccentric to the lower side of the first rotation axis A1), rather than an arc-shaped trajectory centered on the first rotation axis A1 (like the anvil 180).

[0029] Each of the multiple bases 130 is directly or indirectly (via other components) attached to it a third drive unit 142. The third drive unit 142 is, for example, a servo motor. The rotation axis of the third drive unit 142 attached to the base 130 is directly or indirectly connected to a pad 140 attached to that base 130. In other words, a third drive unit 142 is provided for each of the multiple pads 140. Each third drive unit 142 rotates the corresponding pad 140 relative to the base 130 about a second rotation axis A2 that intersects the base 130 (in particular, in this embodiment extends perpendicular to the base 130). The second rotation axis A2 extends generally in the radial direction of the first rotation axis A1.

[0030] When the third drive unit 142 is driven, the pad 140 that holds the workpiece W2 rotates, changing the transport posture of the workpiece W2. Specifically, immediately after the workpiece W2 is manufactured from the web W1, the pad 140 takes a posture such that the longitudinal direction of the workpiece W2 (the longitudinal direction of the pad 140 that holds the workpiece W2) is aligned with the circumferential direction of the first rotation axis A1 (the direction of arrow D in Figure 2) (see pad 140 at position I in Figure 2A). In contrast, at the time when the pad 140 hands over the workpiece W2 to the second transport device 400 (see pad 140 at position VI in Figure 2A), the pad 140 takes a posture such that the longitudinal direction of the workpiece W2 is aligned with a direction perpendicular to the circumferential direction of the first rotation axis A1 (the direction of arrow D in Figure 2).

[0031] The cutting device 190 is positioned downstream of the frame 110 in the direction of rotation (see arrow D in Figure 1A). The cutting device 190 has a cutting section 192 (for example, a cutting blade). The cutting device 190 cuts the web W1 by pressing the cutting section 192 against an anvil 180 positioned between the two pads 140, via the web W1 held by the two pads 140, at an intermediate position between the two pads 140, thereby producing a workpiece W2 at the pad 140 downstream of the cutting device 190. The cutting device 190 may be a device that cuts the web W1 by rotating the member to which the cutting section 192 is attached, or a device that cuts the web W1 by reciprocating the cutting section 192.

[0032] The first detection unit 116 detects the first rotation angle, which is the rotation angle of the frame 110 around the first rotation axis A1. The first rotation angle is, for example, the angle that represents how many degrees the reference point of the frame 110 has rotated around the first rotation axis A1 from the reference position (reference angle).

[0033] The second detection unit 126 detects the oscillation angle of the multiple arms 120 around the oscillation axis A3. The oscillation angle is, for example, the angle that represents how many degrees the crank arm 123 has rotated around the oscillation axis A3 from a reference angle.

[0034] The third detection unit 144 detects the second rotation angle, which is the rotation angle of the pads 140 attached to the multiple bases 130 around the second rotation axis A2. The second rotation angle represents, for example, how many degrees the pad 140 has rotated around the second rotation axis A2 from a reference position (for example, from a state where the longitudinal direction of the pad 140 is parallel to the first rotation axis A1).

[0035] The first detection unit 116, the second detection unit 126, and the third detection unit 144 are, for example, encoders. For example, a servo motor as the first drive unit 112 may have an encoder as the first detection unit 116, each of the multiple servo motors as the second drive units 122 may have an encoder as the second detection unit 126, and each of the multiple servo motors as the third drive units 142 may have an encoder as the third detection unit 144. However, any or all of the first detection unit 116, the second detection unit 126, and the third detection unit 144 may be encoders externally attached to the servo motor.

[0036] The types of the first detection unit 116, the second detection unit 126, and the third detection unit 144 are not limited to encoders, but may be cameras, for example. For example, the first detection unit 116 may be one or more cameras that capture the frame 110. Also, the second detection unit 126 and the third detection unit 144 may be one or more cameras that capture the arm 120 and the pad 140. The control unit 212, which will be described later, can detect the first rotation angle, the second rotation angle, and the oscillation angle from the images even when the first detection unit 116, the second detection unit 126, and the third detection unit 144 are cameras. Note that the cameras may be used for multiple purposes (in other words, for two or more purposes of the first detection unit 116, the second detection unit 126, and the third detection unit 144).

[0037] Furthermore, the first detection unit 116 may consist of, for example, a first mark (not shown) provided on a support frame (not shown) that pivots the rotation axis of the frame 110 (the rotation axis that rotates the frame 110 around the first rotation axis A1), and a second mark (not shown) provided on the frame 110. In this case, for example, an operator can visually detect (understand) the first rotation angle, which is the rotation angle of the frame 110 around the first rotation axis A1, based on the positional relationship between the first mark and the second mark, which constitute the first detection unit 116.

[0038] Furthermore, the first detection unit 116, the second detection unit 126, and the third detection unit 144 may be sensors such as photoelectric or magnetic sensors capable of detecting angles.

[0039] The pad detection unit 170 is a device that identifies the size of the pad 140 attached to the base 130. The pad detection unit 170 is, for example, a camera that takes an image of the pad 140. The camera as the pad detection unit 170 may also be used as the first detection unit 116, the second detection unit 126, or the third detection unit 144. Alternatively, the pad detection unit 170 may be, for example, a photoelectric or magnetic sensor attached to the base 130.

[0040] The control device 200 is a device that controls the operation of each component of the transport device 100. The control device 200 is a device that includes a processing unit 210 such as a CPU or GPU, a storage unit 220 including a main memory (ROM and RAM) and an auxiliary storage device such as flash memory, an input unit 230 (switch, touch panel display, etc.), an output unit 240 (display, etc.), and various electrical and electronic circuits. The control device 200 may perform various processes using software, using hardware, or through the cooperation of software and hardware.

[0041] The control device 200 is electrically connected to the first drive unit 112, the second drive unit 122, the third drive unit 142, the first detection unit 116, the second detection unit 126, the third detection unit 144, the cutting device 190, and the pad detection unit 170. The control device 200 (specifically, the arithmetic processing unit 210 and various electrical and electronic circuits) controls the operation of these devices and acquires information output by these devices.

[0042] In the control device 200, the arithmetic processing unit 210 executes various programs stored in the storage unit 220, thereby functioning as the control unit 212 and the displacement detection unit 214.

[0043] The control unit 212 controls the operation of the first drive unit 112, the multiple second drive units 122, and the multiple third drive units 142. The control unit 212 also controls the operation of the cutting device 190 and the output of the output unit 240.

[0044] Before the operation of the transfer device 100 (before the start of the normal operation described later), the deviation detection unit 214 detects the deviation of the position of the frame 110 from the normal position based on the first rotation angle detected by the first detection unit 116.

[0045] The storage unit 220 stores various information in addition to the program.

[0046] Details of the processes executed by the control unit 212 and the deviation detection unit 214 and the content of the information stored in the storage unit 220 will be described later.

[0047] (3) Operation of the transfer device (3-1) Operation of the transfer device during normal operation How various devices of the transfer device 100 operate during normal operation (when the transfer device 100 transfers the workpiece W2) will be described mainly with reference to FIGS. 1A and 2, centering on the operations of the first drive unit 112, the second drive unit 122, and the third drive unit 142.

[0048] In FIG. 2, at a certain moment during the normal operation of the transfer device 100, views of the bases 130 and pads 140 arranged at each position (positions represented by Roman numerals I to X in FIG. 1A) in FIG. 1A along the radial direction of the transfer device 100 (the axial direction of the second rotation axis A2) are arranged in order. The Roman numerals in FIG. 2 correspond to the Roman numerals representing the positions in FIG. 1A. Note that FIGS. 1A and 2 are for explanatory purposes and do not accurately depict the operation, configuration, etc. of the transfer device 100, nor do they limit the operation of the transfer device 100.

[0049] During normal operation of transporting the workpiece W2 at least, the control device 200 synchronously controls the plurality of second drive units 122 and the plurality of third drive units 142 in accordance with the operation of the first drive unit 112.

[0050] An explanation of the synchronous control will be given.

[0051] When the conveying device 100 conveys the workpiece W2 and hands the workpiece W2 over to the second conveying device 400 (and in this embodiment, when it also receives the web W1 from the web supply device 300 and cuts out the workpiece W2 from the web W1), if the orientation of each pad 140, the position of each pad 140 (the swing angle of the arm 120), and the distance between adjacent pads 140 are inappropriate, the workpiece W2 may be handed over to the second conveying device 400 in an inappropriate orientation or timing, or the pads 140 may come into contact with each other, or the pads 140 may come into contact with components such as the anvil 180.

[0052] Therefore, the storage unit 220 of the control device 200 stores in advance, for example in the form of a table, mathematical formula, or program, the orientation that each pad 140 should take when it rotates around the first rotation axis A1 as the first drive unit 112 rotates the frame 110. Specifically, the storage unit 220 stores information (referred to as drive unit control information) such as how much the second drive unit 122 swings the arm 120 and how much the third drive unit 142 rotates the pad 140 when each pad 140 rotates by an angle X from a reference position (for example, the uppermost point) by the first drive unit 112. The storage unit 220 may also store multiple drive unit control information for each size of the pad 140 used.

[0053] Furthermore, since the pad 140 is also moved circumferentially around the first rotation axis A1 by the second drive unit 122, in order to determine how many degrees the pad 140 has rotated around the first rotation axis A1 by the first drive unit 112, it is necessary to take into account how much the arm 120 is swinging (without taking into account the swing of the arm 120, it is not possible to determine how many degrees the first drive unit 112 has rotated the pad 140).

[0054] Therefore, the memory unit 220 of the control device 200 may store as drive unit control information "how much the second drive unit 122 swings the arm 120 and how much the third drive unit 142 rotates the pad 140 when the pivot axis A3 of the arm 120 connected to the base 130 to which the pad 140 is attached (correlated with the rotation angle of the pad 140 around the first rotation axis A1 of the pad 140 by the first drive unit 112) rotates by an angle X from the reference position."

[0055] Furthermore, the degree to which each pad 140 has rotated from its reference position can be determined by knowing how many degrees each pad 140 is mounted around the first rotation axis A1 from the reference point of the frame 110 (for example, with the arm 120 to which the pad 140 is attached placed in the center of the swing range) (known information about the transport device 100), and how many degrees the reference point of the frame 110 has rotated around the first rotation axis A1 from its reference position (i.e., the first rotation angle detected by the first detection unit 116).

[0056] The control unit 212 operates multiple second drive units 122 and multiple third drive units in accordance with the operation of the first drive unit 112, based on the drive unit control information stored in the memory unit 220. This control is called synchronous control.

[0057] During normal operation of the conveying device 100, the second drive unit 122 and the third drive unit 142 are synchronously controlled in accordance with the operation of the first drive unit 112, and the control unit 212 controls the second drive unit 122 and the third drive unit 142, for example, as follows. Note that the operation of the conveying device 100 during normal operation described below is merely an example and can be changed as appropriate. For example, in the following description, adjacent pads 140 are arranged in close proximity to each other at the position where the workpiece W2 is handed over to the second conveying device 400, but if it is necessary to hand over the workpiece W2 to the second conveying device 400 with a gap between them, the pads 140 may be arranged far apart at the position where the workpiece W2 is handed over to the second conveying device 400.

[0058] When the control unit 212 receives an operation start instruction to the input unit 230, it first performs operation preparation control. Operation preparation control will be described later. At the stage when operation preparation control is completed, the number of degrees the frame 110 has rotated around the first rotation axis A1 from its reference position is known, and the amount each pad 140 has rotated from its reference position is known.

[0059] Once the control unit 212 has completed the operation preparation control, it reads from the storage unit 220 the drive unit control information corresponding to the size of the pad 140 used in the transport device 100.

[0060] Then, when the first drive unit 112 starts rotating the frame 110, the control unit 212 performs the following control at the timing when each pad 140 is positioned at each of positions I to X (at the timing when the control unit 212 determines that each pad 140 is positioned at each of positions I to X).

[0061] The pad 140 positioned at position I is positioned such that its longitudinal direction aligns with the circumferential direction of the first rotation axis A1 (the rotation direction of the frame 110 (direction of arrow D)).

[0062] When the frame 110 rotates and the pad 140 positioned at position I moves to position II, the control unit 212 controls the second drive unit 122 to swing the arm 120 supporting the pad 140 forward in the direction of rotation of the frame 110 (direction of arrow D). At a predetermined timing, the control unit 212 controls the cutting device 190 to cut the web W1 held by the pad 140 positioned at position I and the pad 140 positioned at position II, thereby manufacturing the workpiece W2.

[0063] When the frame 110 rotates and the pad 140, which is positioned at position II, moves to position III, the control unit 212 controls the third drive unit 142 to rotate the pad 140 that holds the workpiece W2 around the second rotation axis A2 (clockwise in the example in Figure 2). The control unit 212 also controls the second drive unit 122 to swing the arm 120 that supports the pad 140 forward in the direction of rotation of the frame 110 (direction of arrow D).

[0064] When the frame 110 rotates and the pad 140, which is positioned at position III, moves to position IV, the control unit 212 controls the third drive unit 142 to further rotate the pad 140 that holds the workpiece W2 around the second rotation axis A2 (clockwise in the example in Figure 2).

[0065] When the pad 140 is positioned at position V, the rotation around the second rotation axis A2 by the third drive unit 142 is completed, and the longitudinal direction of the pad 140 that holds the workpiece W2 is aligned in a direction perpendicular to the circumferential direction of the first rotation axis A1 (direction of arrow D) (parallel to the first rotation axis A1).

[0066] When the frame 110 rotates and the pad 140, which is positioned at position V, moves to position VI, the control unit 212 controls the second drive unit 122 to swing the arm 120 supporting the pad 140 backward in the direction of rotation of the frame 110 (direction of arrow D). Also, when the pad 140 moves to position VI, the control unit 212 stops the suction of the workpiece W2 by the pad 140 positioned at position VI in order to transfer the workpiece W2 held by the pad 140 to the second transport device 400.

[0067] When the frame 110 rotates and the pad 140 positioned at position VI moves to position VII, the control unit 212 controls the second drive unit 122 to swing the arm 120 supporting the pad 140 positioned at position VI backward in the direction of rotation of the frame 110 (direction of arrow D).

[0068] When the frame 110 rotates and the pad 140, which is positioned at position VII, moves to position VIII, the control unit 212 controls the third drive unit 142 to rotate the pad 140 around the second rotation axis A2 (counterclockwise in the example in Figure 2). The control unit 212 also controls the second drive unit 122 to swing the arm 120 supporting the pad 140 backward in the direction of rotation of the frame 110 (direction of arrow D).

[0069] When the frame 110 rotates and the pad 140, which is positioned at position VIII, moves to position IX, the control unit 212 controls the third drive unit 142 to rotate the pad 140 that holds the workpiece W2 around the second rotation axis A2 (counterclockwise in the example in Figure 2). The control unit 212 also controls the second drive unit 122 to swing the arm 120 that supports the pad 140 forward in the direction of rotation of the frame 110 (direction of arrow D).

[0070] When the frame 110 rotates and the pad 140, which is positioned at position IX, moves to position X, the control unit 212 controls the third drive unit 142 to rotate the pad 140 that holds the workpiece W2 around the second rotation axis A2 (counterclockwise in the example in Figure 2). The control unit 212 also controls the second drive unit 122 to swing the arm 120 that supports the pad 140 forward in the direction of rotation of the frame 110 (direction of arrow D).

[0071] The pad 140, positioned at position X, is positioned such that its longitudinal direction aligns with the circumferential direction of the first rotation axis A1 (the rotation direction of the frame 110 (direction of arrow D)).

[0072] While normal operation continues (while the pad 140 is being rotated around the first rotation axis A1 by the first drive unit 112), the control unit 212 synchronously controls the multiple second drive units 122 and the multiple third drive units 142 in accordance with the operation of the first drive unit 112, as described with reference to Figure 2.

[0073] When stopping normal operation, the control unit 212 immediately acquires information from the first detection unit 116, the second detection unit 126, and the third detection unit 144, and stores in the storage unit 220, as normal position information, the number of degrees the reference point of the frame 110 has rotated around the first rotation axis A1 from the reference position (the result of the first rotation angle detection by the first detection unit 116), information regarding the posture of each pad 140 (the result of the second rotation angle detection by the third detection unit 144), and information regarding the swing angle of the arm 120 that supports each pad 140 (the result of the swing angle detection by the second detection unit 126).

[0074] (3-2) Alignment of pads and arms During normal operation, when the control unit 212 controls the operation of the first drive unit 112, the second drive unit 122 and the third drive unit 142 as described above, in order to suppress the occurrence of problems such as the workpiece W2 being delivered to the second transport device 400 in an inappropriate posture or timing, the pads 140 coming into contact with each other, or the pads 140 coming into contact with members such as the anvil 180, it is necessary to accurately align the reference positions (origin positions) of the pads 140 and the arms 120.

[0075] Therefore, as an initial setting, the conveying device 100 aligns the reference position of the pad 140 and the arm 120 using the method described below. This initial setting is performed, for example, when the conveying device 100 is used for the first time or when the size of the pad 140 used in the conveying device 100 is changed.

[0076] The control unit 212 performs reference positioning of the multiple arms 120 one by one in sequence. However, the control unit 212 may perform reference positioning of two or more arms 120 simultaneously based on the calculation results for each axis performed by the arithmetic processing unit 210.

[0077] The control unit 212 performs the reference positioning of the target arm 120 (here, the target arm 120 is referred to as the target arm 120) while the target arm 120 is positioned in a predetermined area. Specifically, in this embodiment, the control unit 212 performs the reference positioning of the target arm 120 at the position where the pad 140 held by the target arm 120 passes the workpiece W2 to the second transport device 400.

[0078] The reason for this is that if the reference position of the target arm 120 is adjusted outside the designated area using a method described later, there is a risk that the arm 120, etc., may come into contact with the anvil 180, which is not intended to come into contact with it.

[0079] In this embodiment, an anvil 180 is required for cutting the web W1. Therefore, when aligning the target arm 120 to its reference position outside the predetermined area, there is a risk that the arm 120, etc., may come into contact with the anvil 180, which is not intended to come into contact with the anvil 180. However, if, for example, the transport device 100 is a device that only transports the workpiece W2, then the anvil 180 is unnecessary, and the reference alignment of the target arm 120 may be performed with the target arm 120 positioned outside the predetermined area. Furthermore, even if an anvil 180 is present, if the condition that the reference alignment of the target arm 120 can be performed outside the predetermined area is met, the reference alignment of the arm 120 may be performed simultaneously for multiple target arms 120, with multiple target arms 120 positioned outside the predetermined area.

[0080] Furthermore, when the control unit 212 performs reference positioning of the target arm 120, it is preferable that it also performs reference positioning of the pad 140 attached to the target arm 120 (via the base 130).

[0081] (a) Reference positioning of the pad The reference positioning of the pad 140 will be explained with reference to Figures 4A and 4B.

[0082] When starting the reference positioning of the pad 140 (here, the pad 140 to be reference positioned is referred to as the target pad 140), the target pad 140 may be in any position.

[0083] When aligning the target pad 140 to its reference position, the control unit 212 rotates the target pad 140 in a direction opposite to a predetermined second direction (step S1). Specifically, the target pad 140 is rotated in the direction in which the positioning pin 148 (an example of a second restricting part) that contacts the target pad 140 is located.

[0084] As the target pad 140 is rotated, at a certain point the target pad 140 is pressed against the positioning pin 148 (see Figure 4B(a)). The positioning pin 148 may be attached to the frame 110 (in other words, one provided for each pad 140), or it may be a fixed member not attached to the frame 110 (attached to the immovable frame of the transport device 100 and used in common for all pads 140). When the target pad 140 is pressed against the positioning pin 148, the target pad 140 can no longer rotate, and the torque of the servo motor as the third drive unit 142 increases to a predetermined value or higher (Yes in step S2).

[0085] Next, the control unit 212 rotates the target pad 140 by a predetermined angle (here called the third angle α) in a second direction from the position where the target pad 140 is pressed against the positioning pin 148 (the position where the torque shown in Figure 4B(a) exceeds a predetermined value, here referred to as the third position) (steps S3 and S5). The third angle α is the rotatable angle range of the target pad 140. In other words, the target pad 140 is designed to be movable between the third position and a position rotated by the third angle α in the second direction from the third position (here referred to as the fourth position, see Figure 4B(b)). By rotating the target pad 140 by the third angle α in the second direction from the third position (and confirming that it can be rotated), the control unit 212 can confirm that the target pad 140 is not in contact with any member (obstacle) and is not unable to rotate within its rotatable range.

[0086] Furthermore, if the torque of the servo motor, which is the third drive unit 142, exceeds a predetermined value (the predetermined value here does not need to be the same as the predetermined value in step S2) before the control unit 212 has finished rotating the target pad 140 from the third position by a third angle α in the second direction (in other words, if the result is Yes in step S4), the control unit 212 interrupts the alignment of the target pad 140 to its reference position (step S10) because it is assumed that the target pad 140 is in contact with some member (obstacle). At this time, the control unit 212 may perform processing such as issuing an error notification to the display, which is the output unit 240.

[0087] Once the control unit 212 has finished moving the target pad 140 to the fourth position (Yes in step S5), it moves the target pad 140 to the reference position by rotating it from the fourth position by a predetermined fourth angle (for example, half of the third angle α) in the direction opposite to the second direction (see Figure 4B(c)). This completes the alignment of the target pad 140 to the reference position. Note that the setting of the fourth angle as half of the third angle α is merely one example, and the fourth angle can be appropriately determined within a range that does not exceed the value of the third angle α.

[0088] Before the reference positioning of the pad 140 is performed, the position of the pad 140 is unknown, so the control unit 212 does not perform the aforementioned synchronous control for the pad 140 (for the third drive unit 142 that rotates the pad 140 around the second rotation axis A2). However, in step S6, the target pad 140 is performed reference positioning, so the position of the target pad 140 becomes clearly known. Therefore, when the first drive unit 112 is driven to rotate the frame 110 thereafter, the control unit 212 starts synchronous control for the pad 140 after reference positioning (step S7).

[0089] (b) Reference positioning of the arm The reference positioning of the arm 120 will be explained with reference to Figures 5A and 5B.

[0090] When starting the alignment of the arm 120 to its reference position (here, the arm 120 to be aligned to its reference position is referred to as the target arm 120), the oscillation state of the target arm 120 may be in any state.

[0091] When aligning the target arm 120 to a reference position, the control unit 212 rotates the target arm 120 in a direction opposite to a predetermined first direction (step S11). Specifically, the target arm 120 is rotated in the direction in which a positioning pin 128 (an example of a first restricting part) is located, which contacts a predetermined part of the target arm 120, the base 130 connected to the target arm 120, or the pad 140 attached to the target arm 120. The positioning pin 128 may be attached to the frame 110 (in other words, provided for each of the arms 120), or it may be a fixed member that is not attached to the frame 110 (attached to the immovable frame of the transport device 100 and used in common for all arms 120).

[0092] As the target arm 120 is rotated, at a certain point, for example, a predetermined portion of the target arm 120 is pressed against the positioning pin 128 (see Figure 5B(a)). When the target arm 120 is pressed against the positioning pin 128, the target arm 120 can no longer rotate, and the torque of the servo motor, which is the second drive unit 122, increases to a predetermined value or higher (Yes in step S12).

[0093] Next, the control unit 212 rotates the target arm 120 by a predetermined angle (here called the first angle β) in a first direction from the position where the target arm 120 is pressed against the positioning pin 128 (see Figure 5B(a), the position where the torque exceeds a predetermined value, here referred to as the first position) (steps S13, step S15). The first angle β is determined by the rotatable angle range of the target arm 120. In other words, the target arm 120 is designed to be movable between the first position and a position rotated by the first angle β in the first direction from the first position (here referred to as the second position, see Figure 5B(b)). By rotating the target arm 120 by the first angle β in the first direction from the first position, the control unit 212 can confirm that no malfunction has occurred where the target arm 120 is unable to rotate within its rotatable range due to contact with any member (obstacle).

[0094] If, before the control unit 212 rotates the arm 120 from the first position by a first angle β in the first direction, the torque of the servo motor as the second drive unit 122 exceeds a predetermined value (this predetermined value does not need to be the same as the predetermined value in step S12) (if the result is Yes in step S14), the control unit 212 will assume that the target arm 120 is in contact with some member (obstacle), and will temporarily interrupt the alignment of the target arm 120 to its reference position and move the adjacent arm 120 away from the target arm 120 (step S30). After that, the control unit 212 will execute the process from step S11 again.

[0095] Once the control unit 212 has finished moving the target arm 120 to the second position (Yes in step S15), it moves the target arm 120 to the reference position by rotating it from the second position by a predetermined second angle (for example, half of the first angle β) in the direction opposite to the first direction (see Figure 5B(c)). This completes the alignment of the target arm 120 to the reference position. Note that the setting of the second angle as half of the first angle β is merely one example, and the second angle can be appropriately determined within a range that does not exceed the value of the first angle β.

[0096] Before the reference positioning of the arm 120 is performed, the swing state of the arm 120 is unknown, so the control unit 212 does not perform the aforementioned synchronous control for the arm 120 (for the second drive unit 122 that swings the arm 120 around the swing axis A3). However, in step S16, the target arm 120 is performed reference positioning, and the position of the target arm 120 is clearly known. Therefore, when the first drive unit 112 is driven to rotate the frame 110 thereafter, the control unit 212 starts synchronous control for the arm 120 after reference positioning (step S17).

[0097] Once the reference positioning of arm 120 is complete, the control unit 212 starts rotating the frame 110 by a predetermined angle (360° ÷ the number of arms 120 of the transport device 100) in order to perform the reference positioning of the next arm 120 (to position the next arm 120 in the predetermined area) (step S18).

[0098] Furthermore, since the swing angle of the arm 120 before alignment to the reference position is not controlled by the control unit 212, rotating the frame 110 may cause the arm 120 before alignment to come into contact with some member (obstacle). If the arm 120 before alignment to come into contact with some member (obstacle), the torque acting on the second drive unit 122 and / or the third drive unit 142 may exceed a predetermined value (Yes in step S19).

[0099] In this case, the control unit 212 executes the torque control mode.

[0100] In torque control mode, when a torque of a first predetermined value or more acts on the second drive unit 122 corresponding to the arm 120 before reference alignment, the control unit 212 controls the second drive unit 122 to swing the arm 120 in the direction of torque reduction. Also in torque control mode, when a torque of a second predetermined value or more acts on the third drive unit 142 corresponding to the pad 140 attached to the arm 120 before reference alignment, the control unit 212 controls the third drive unit 142 to swing the pad 140 in the direction of torque reduction (step S20).

[0101] Furthermore, once the frame 110 has finished rotating by a predetermined angle (360° ÷ the number of arms 120 of the transport device 100) (step S21), the control unit 212 determines whether the reference positioning has been completed for all arms 120 (step S22).

[0102] If the reference positioning has not been completed for all arms 120 (No in step S22), the process returns to step S11, and the reference positioning of the arms 120 (target arms 120) located in the predetermined area is performed. If the reference positioning has been completed for all arms 120 (Yes in step S22), the positioning of the arms 120 is completed.

[0103] Although the reference positioning of the pad 140 and the reference positioning of the arm 120 have been described separately here, the reference positioning of the pad 140 attached to the target arm 120 may be performed after the reference positioning of the target arm 120 is completed (after step S17 is finished) (steps S1 to S7), and then the processes from step S18 onwards may be performed.

[0104] (3-3) The operation preparation control unit 212 will now describe the operation preparation control performed before the start of normal operation.

[0105] When the control unit 212 performs synchronous control to operate multiple second drive units 122 and multiple third drive units in accordance with the operation of the first drive unit 112, it is necessary that at the start of control, the number of degrees the reference point of the frame 110 has rotated from the reference position around the first rotation axis A1 (in other words, how much each pad 140 has rotated from the reference position around the first rotation axis A1 by the first drive unit 112) is known, and that the second rotation angle of each pad 140 and the swing angle of the arm 120 supporting each pad 140 are values ​​corresponding to the rotation angle of each pad 140 around the first rotation axis A1.

[0106] After stopping normal operation, the first rotation angle, second rotation angle, and oscillation angle should basically be in the same state as when the operation stopped. Therefore, if the synchronous control of the multiple second drive units 122 and the multiple third drive units 142 is restarted in accordance with the operation of the first drive unit 112, the multiple second drive units 122 and the multiple third drive units 142 should perform the appropriate operation at the appropriate timing. However, in reality, a situation may occur where the frame 110 is deviated from the state immediately after stopping normal operation (the frame 110 has rotated unintentionally around the first rotation axis A1) due to reasons such as an operator performing some operation on the conveying device 100.

[0107] Therefore, the control unit 212 performs operation preparation control before the start of normal operation. Operation preparation control will be explained with reference to Figure 6.

[0108] When an operation start instruction is input to the input unit 230 (step S31), the control unit 212, before the start of operation of the transport device 100, has the displacement detection unit 214 detect the displacement of the frame 110 from its normal position based on the first rotation angle detected by the first detection unit 116 (step S32). The frame 110 being in the normal position means that the first rotation angle detected by the first detection unit 116 matches the first angle information in the normal position information stored in the storage unit 220. If the normal position information stored in the storage unit 220 is from when the transport device 100 was stopped immediately before, then the normal position of the frame 110 is the position of the frame 110 at the time the transport device 100 was stopped immediately before. Specifically, in step S32, the displacement detection unit 214 compares the first rotation angle detected by the first detection unit 116 with the first rotation angle (normal angle) in the normal angle information stored in the storage unit 220.

[0109] If the detected first rotation angle does not match the first rotation angle (normal angle), the control unit 212 displays an alarm on the display, which acts as the output unit 240 (step S33).

[0110] Furthermore, if the detected first rotation angle does not match the first rotation angle (normal angle), the control unit 212 preferably controls the first drive unit 112 based on the detection result of the displacement detection unit 214 to move the frame 110 to the normal position. Specifically, the control unit 212 controls the first drive unit 112 so that the first rotation angle detected by the first detection unit 116 matches the first rotation angle (normal angle) of the normal angle information stored in the storage unit 220 (step S34). The rotation direction of the frame 110 at this time may be the same as or the opposite of that during normal operation. Note that the process in step S34 may be performed by an operator.

[0111] If the detected first rotation angle does not match the first rotation angle (normal angle), the control unit 212 may, in step S34, control the second drive unit 122 and the third drive unit 142 to change the swing angle of each arm 120 (swing angle detected by the second detection unit 126) to a corresponding swing angle corresponding to the position of the frame 110 (first rotation angle detected by the first detection unit 116), and change the second rotation angle of each pad 140 (second rotation angle detected by the third detection unit 144) to a corresponding second rotation angle corresponding to the position of the frame 110.

[0112] As the process in step S34 is performed by the control unit 212 (or by manual operation by an operator), the second rotation angle of each pad 140 and the swing angle of the arm 120 supporting each pad 140 are set to values ​​corresponding to the current first rotation angle. In this state, synchronized control of the multiple second drive units 122 and the multiple third drive units 142 is started in accordance with the operation of the first drive unit 112 (normal operation begins).

[0113] Although a detailed explanation will be omitted, even if the first rotation angle is determined to be normal in step S32, the second rotation angle of any of the pads 140, or the swing angle of the arm 120 supporting any of the pads 140, may, for some reason, deviate from the values ​​in the normal position information stored in the memory unit 220. In such cases, the control unit 212 may, as in step S33, display an alarm on the display acting as the output unit 240, or control the second drive unit 122 and / or the third drive unit 142 to match the second rotation angle and swing angle with the values ​​in the normal position information stored in the memory unit 220.

[0114] Furthermore, in order to suppress unintended rotation of the frame 110, it is preferable that the transport device 100 has a stopper mechanism 114 that suppresses (restricts) the rotation of the frame 110 when the transport device 100 is stopped. The stopper mechanism 114 is not limited to, but for example, it is a motor brake 113 provided on the servo motor as the first drive unit 112.

[0115] Furthermore, in order to suppress unintended rotation of the second drive unit 122 and the third drive unit 142, motor brakes may also be provided on the servo motors that make up the second drive unit 122 and the third drive unit 142.

[0116] (3-4) The pad replacement mode control unit 212 has a pad 140 replacement mode as a control mode.

[0117] Let me explain the reason for providing a pad 140 replacement mode. When the aforementioned synchronous control is in place, the pad 140 rotates around the second rotation axis A2 and the arm 120 swings around the swing axis A3, which can make it difficult to replace the pad 140. The pad 140 replacement mode is a control mode that changes the transport device 100 to a state that makes it easier to replace the pad 140.

[0118] In the pad 140 replacement mode, the control unit 212 releases the synchronization control applied to the second drive unit 122 corresponding to the arm 120 to which the pad 140 is attached and the third drive unit 142 corresponding to the pad 140 when the longitudinal direction of each pad 140 before replacement becomes parallel to the first rotation axis A1 (particularly in this embodiment, at the timing when the pad 140 is positioned at position VI in Figure 2). At this time, it is preferable for the control unit 212 to swing the arm 120 in the circumferential direction around the first rotation axis A1 so that the pad 140 is positioned in the center of the two anvils 180 adjacent to the pad 140. After the pad 140 has passed position VI in Figure 2, the control unit 212 rotates the frame 110 around the first rotation axis A1 while stopping the swing of the arm 120 to which the pad 140 is attached relative to the frame 110 and the rotation of the pad 140 around the second rotation axis A2. When the synchronization control for all second drive units 122 and third drive units 142 is released, as shown in Figure 7, the longitudinal direction of each pad 140 before replacement becomes parallel to the first rotation axis A1, and each pad 140 is positioned in the center of two adjacent anvils 180 in the circumferential direction around the first rotation axis A1. In this state, the operator replaces the pads 140.

[0119] Here, when replacing the pad 140, the pad 140 before replacement is assumed to have its longitudinal direction parallel to the first rotation axis. Therefore, when attempting to replace a particular pad 140, the adjacent pads 140 do not get in the way of the work, making it easier for the worker to perform the pad replacement.

[0120] Furthermore, when a pad 140 is replaced, it is preferable that the pad detection unit 170 detects the size of the replaced pad 140. The arithmetic processing unit 210 then determines, for example, whether the size of the pad 140 to be used, which is input to the input unit 230, matches the size of the pad 140 detected by the pad detection unit 170. If they do not match, it is preferable to perform processing such as displaying an alarm on the display of the output unit 240.

[0121] (4) Features (4-1) The conveying device 100 conveys workpieces W2 one after another while changing the conveying posture of the workpieces W2 and the distance between the workpieces W2. The conveying device 100 comprises a frame 110, a first drive unit 112, a plurality of arms 120, a plurality of pads 140 for holding the workpieces W2, a second drive unit 122, a third drive unit 142, a control unit 212, a first detection unit 116, a second detection unit 126, a third detection unit 144, and a displacement detection unit 214. The first drive unit 112 rotates the frame 110 around a first rotation axis A1. The plurality of arms 120 are mounted on the frame 110 in a line along the circumferential direction around the first rotation axis A1. Each of the plurality of arms 120 swings relative to the frame 110 around a corresponding swing axis A3 that extends parallel to the first rotation axis A1. Each of the multiple pads 140 is attached to a base 130 connected to a corresponding arm 120. A second drive unit 122 is provided for each of the multiple arms 120. The second drive unit 122 causes the pad 140 attached to the base 130 connected to the corresponding arm 120 to swing relative to the frame 110 by swinging the corresponding arm 120 around a pivot axis A3. A third drive unit 142 is provided for each of the multiple pads 140. The third drive unit 142 rotates the corresponding pad 140 relative to the base 130 around a second rotation axis A2 that intersects the base 130. The control unit 212 controls the operation of the first drive unit 112, the multiple second drive units 122 provided for the multiple arms 120, and the multiple third drive units 142 provided for the multiple pads 140. The control unit 212 synchronously controls the multiple second drive units 122 and the multiple third drive units 142 in accordance with the operation of the first drive unit 112, at least during normal operation in which the transport device 100 transports the workpiece W2. The first detection unit 116 detects the first rotation angle, which is the rotation angle of the frame 110 around the first rotation axis A1. The second detection unit 126 detects the swing angle of the multiple arms 120 around the swing axis A3. The third detection unit 144 detects the second rotation angle, which is the rotation angle of the pad 140 attached to the base 130 around the second rotation axis A2.The displacement detection unit 214 detects the deviation of the frame 110's position (rotation position) from its normal position based on the first rotation angle before the transport device 100 starts operation.

[0122] In the conveying device 100, before starting normal operation, it is possible to detect whether the frame 110 that supports the pad 140 that holds the workpiece W2 (via the arm 120) is positioned in the normal position (normal rotation position). This prevents the workpiece W2 from being passed to the downstream process in an inappropriate posture or timing, thereby realizing a highly reliable conveying device 100.

[0123] (4-2) In the conveying device 100, the normal position of the frame 110 is the position of the frame 110 when the normal operation of the conveying device 100 was stopped immediately beforehand (in particular, in this embodiment, the position of the frame 110 corresponding to the first rotation angle, which is included in the normal position information stored in the storage unit 220).

[0124] In the conveying device 100, even if the frame 110 rotates unintentionally for some reason after the normal operation of the conveying device 100 has stopped, this can be detected, so when normal operation is resumed, it is possible to prevent the workpiece W2 from being passed to the downstream process in an inappropriate posture or at an inappropriate timing.

[0125] (4-3) Preferably, the control unit 212 controls the first drive unit 112 based on the detection result of the displacement detection unit 214 before the start of normal operation of the transport device 100, and moves the frame 110 to the normal position.

[0126] Here, since the frame 110 is positioned correctly before the start of normal operation, the occurrence of problems where the workpiece W2 is passed to the downstream process in an inappropriate posture or timing is particularly suppressed.

[0127] (4-4) Before starting normal operation of the transport device 100, the control unit 212 may control the second drive unit 122 and the third drive unit 142 to change the swing angle of each arm 120 to a corresponding swing angle corresponding to the position of the frame 110, and change the second rotation angle of each pad 140 to a corresponding second rotation angle corresponding to the position of the frame 110.

[0128] Here, the corresponding oscillation angle corresponding to the position of frame 110 means the oscillation angle that each arm 120 should take at the position of frame 110 (the oscillation angle associated with the position of frame 110), and the corresponding second rotation angle corresponding to the position of frame 110 means the second rotation angle that each pad 140 should take at the position of frame 110 (the second rotation angle associated with the position of frame 110) (see the explanation of synchronous control).

[0129] In the conveying device 100, even if the frame 110 is out of position from its normal position, the arm 120 and pad 140 are positioned in their correct locations before operation begins, thus making it easier to prevent problems such as the workpiece W2 being transferred to a downstream process in an inappropriate posture or timing.

[0130] (4-5) Preferably, the conveying device 100 is equipped with a stopper mechanism that suppresses the rotation of the frame 110 when the conveying device 100 is stopped.

[0131] This configuration suppresses unintended rotation of the frame 110 while the conveying device 100 is stopped, thereby preventing the workpiece W2 from being transferred to the downstream process in an inappropriate posture or timing when the conveying device 100 starts normal operation.

[0132] In the above embodiment, an example was described in which the stopper mechanism is the motor brake 113 of the servo motor as the first drive unit 112, but the invention is not limited to this. For example, the stopper mechanism may be a mechanism that fixes the frame 110 to a stationary part of the conveying device 100 so that the frame 110 does not rotate.

[0133] (4-6) Preferably, the control unit 212 performs reference positioning of the multiple arms 120 one by one in order as an initial setting. The control unit 212 performs reference positioning of the target arm 120, which is the arm 120 to be reference-positioned, when it is positioned in a predetermined area (in this embodiment, the position where the pad 140 attached to the arm 120 via the base 130 passes the workpiece W2 to the second transport device 400, see the position indicated by the Roman numeral IV in Figure 1A).

[0134] In the conveying device 100, the reference positioning (origin setting) of the arm 120 is performed automatically, thus enabling a highly reliable conveying device 100 while reducing the labor required from workers.

[0135] In this embodiment, the reference positioning of the multiple arms 120 is performed one by one in sequence, but if physically feasible, the reference positioning of two or more arms 120 may be performed simultaneously.

[0136] Furthermore, although it is not desirable from the standpoint of saving labor for workers, the reference positioning of the arm 120 may be performed manually by the worker.

[0137] (4-7) Preferably, the control unit 212 swings the target arm 120 from a first position to a second position in a first direction while the target arm 120 is positioned in a predetermined area. The first position is the position in which the target arm 120, the base 130 connected to the target arm 120, or the pad 140 attached to the target arm 120 is pressed against the positioning pin 128 as the first restrictor. The second position is the position in which the arm 120 has been swung from the first position by a predetermined first angle β in the first direction. The control unit 212 positions the target arm 120 at the reference position by swinging the target arm 120 from the second position by a predetermined second angle in the direction opposite to the first direction.

[0138] In the above embodiment, the second angle was described as (first angle β × 1 / 2), but the second angle may be a value other than (first angle β × 1 / 2) (an angle greater than 0 degrees and less than or equal to the first angle β).

[0139] With this configuration, it is possible to confirm that the arm 120 can swing from the first position to the second position by a first angle β, in other words, that the arm 120 can swing within a desired angular range (that the swing of the arm 120 is not obstructed by any obstacles). Furthermore, with this configuration, by confirming that the arm 120 can swing in the first direction by a first angle β, it is possible to confirm that the object against which the target arm 120, the base 130 connected to the target arm 120, or the pad 140 attached to the target arm 120 is pressed is the positioning pin 128 (that it is not an obstacle other than the positioning pin 128). Then, with this configuration, the target arm 120 can be accurately positioned at the reference position by subsequently swinging it from the second position by a predetermined second angle in the direction opposite to the first direction.

[0140] (4-8) Preferably, the control unit 212 performs reference positioning of the multiple pads 140 as an initial setting.

[0141] With this configuration, the reference positioning (origin setting) of the pad 140 is performed automatically, thus reducing the labor required from workers and enabling the realization of a highly reliable conveying device 100.

[0142] While not limited to these, it is preferable that the reference positioning of each pad 140 is performed when the reference positioning of the arm 120 to which the pad 140 is attached via the base 130 is performed.

[0143] Furthermore, although it is not desirable from the standpoint of saving labor for workers, the reference positioning of the pad 140 may be performed manually by the worker.

[0144] (4-9) In the transport device 100, the control unit 212 rotates the target pad 140, which is the pad to be aligned to the reference position, from the third position to the fourth position in the second direction. In the third position, the target pad 140 is pressed against the positioning pin 148, which is the second restricting part. The fourth position is a position obtained by swinging the target pad 140 from the third position in the second direction by a predetermined third angle α. The control unit 212 places the target pad 140 in the reference position by rotating the target pad 140 from the fourth position in the direction opposite to the second direction by a predetermined fourth angle. In the above embodiment, the fourth angle was described as (third angle α × 1 / 2), but the fourth angle may be a value other than (third angle α × 1 / 2) (an angle greater than 0 degrees and less than or equal to the third angle α).

[0145] With this configuration, it is possible to confirm that the pad 140 can rotate by a third angle from the third position to the fourth position, in other words, that the pad 140 can rotate within a desired angular range (that the rotation of the pad 140 is not obstructed by any obstacles, etc.). Furthermore, with this configuration, by confirming that the pad 140 can swing by a third angle α in the second direction, it is possible to confirm that what the target pad 140 is pressing against is the positioning pin 148 (that it is not an obstacle other than the positioning pin 148). Then, with this configuration, the target pad 140 can be accurately positioned at the reference position by swinging it by a predetermined fourth angle from the fourth position in the direction opposite to the second direction.

[0146] (4-10) The conveying device 100 has a plurality of anvils 180 and a cutting device 190. The plurality of anvils 180 are arranged between the arms 120 (between two adjacent arms 120). The cutting device 190 has a cutting section 192. The cutting device 190 manufactures a workpiece W2 by cutting the web W1 received by the pad 140 by pressing the cutting section 192 against the anvil 180 via the web W1 received by the pad 140.

[0147] If the conveying device 100 has an anvil 180, the manufacturing of the workpiece W2 can also be performed in the conveying device 100, thus enabling miniaturization of the manufacturing system for wearable items that use the workpiece W2.

[0148] However, in this case, depending on the position where the reference position of the arm 120 is aligned, the rotation of the arm 120 may be hindered by the anvil 180. In contrast, as in the above embodiment, by selecting a predetermined area where the anvil 180 is less likely to hinder the swinging of the arm 120 in the area where the reference position of the arm 120 is aligned (in this embodiment, the position where the pad 140 attached to the arm 120 via the base 130 passes the workpiece W2 to the second transport device 400, the position indicated by the Roman numeral IV in Figure 1A), the occurrence of such problems can be suppressed.

[0149] (4-11) When the control unit 212 rotates the frame 110 to position the target arm 120 in a predetermined area (the area where the target arm 120 is aligned to a reference position), if a torque of a first predetermined value or more acts on the second drive unit 122 corresponding to the arm 120 before alignment to a reference position, it is preferable to control the second drive unit 122 to swing the arm 120 in a direction that reduces the torque. Alternatively, or in addition to the above, when the control unit 212 rotates the frame 110 to position the target arm 120 in a predetermined area, if a torque of a second predetermined value or more acts on the third drive unit 142 corresponding to the pad 140 attached to the arm 120 before alignment to a reference position, it is preferable to control the third drive unit 142 to swing the pad 140 in a direction that reduces the torque.

[0150] This configuration makes it possible to suppress damage to the arm 120 before alignment to the reference position, and to the pad 140 attached to the arm 120 before alignment to the reference position.

[0151] (4-12) Preferably, a plurality of pads 140 are interchangeably mounted on the base 130.

[0152] With this configuration, by changing the pad 140 according to the dimensions of the workpiece W2 being handled, multiple types of workpieces W2 can be handled by a single conveying device 100.

[0153] Preferably, the control unit 212 has a pad 140 replacement mode as a control mode. In the pad 140 replacement mode, when the longitudinal direction of each pad 140 before replacement becomes parallel to the first rotation axis A1, the control unit 212 releases the synchronization control that was being performed on the second drive unit 122 corresponding to the arm 120 to which the pad 140 is attached and the third drive unit 142 corresponding to the pad 140, and rotates the frame 110 around the first rotation axis A1 while stopping the swing of the arm 120 to which the pad 140 is attached relative to the frame 110 and the rotation of the pad 140 around the second rotation axis A2.

[0154] With this configuration, when attempting to replace a particular pad 140, the adjacent pads 140 do not get in the way of the work, making it easier for the worker to replace the pads 140.

[0155] Preferably, the transport device 100 has a pad detection unit 170 that identifies the size of the pad 140 attached to the base 130.

[0156] By providing the pad detection unit 170, the size of the pad 140 can be identified, thus preventing the worker from attaching the pad 140 incorrectly.

[0157] (4-13) In the transport device 100, the second detection unit 126 and the third detection unit 144 may be cameras that image the arm 120 and the pad 140.

[0158] The first detection unit 116 may also be a camera that captures the frame 110.

[0159] With this configuration, the first rotation angle, the oscillation angle, and / or the second rotation angle can be easily detected from the image captured by the camera.

[0160] <Second Embodiment> The transport device 100A of the second embodiment will now be described. The transport device 100A differs from the transport device 100 of the first embodiment mainly in that it does not have a third drive unit 142 and a third detection unit 144 (see Figure 9), and has a configuration in which the pad 140 is rotated by the rotation of the frame 110 and the swinging of the arm 120 (without using the third drive unit 142).

[0161] This section primarily describes the differences between the conveying device 100A and the conveying device 100. To avoid repetition, explanations of similarities will be omitted unless necessary. In the following, components similar to those of the conveying device 100 will be given the same reference numerals.

[0162] The conveying device 100A rotates the pad 140 around the second rotation axis A2 using a configuration as disclosed in International Publication No. 2005 / 075163. The structure for rotating the pad 140 of the conveying device 100A will be briefly explained with reference to Figure 8 (for details, please also refer to International Publication No. 2005 / 075163 and the documents cited in International Publication No. 2005 / 075163).

[0163] In the conveying device 100A, the third drive unit 142 is not attached to each base 130. On the other hand, unlike the conveying device 100, each base 130 in the conveying device 100A has a rotating part 132 that is rotatable around the second rotation axis A2 and to which the pad 140 is attached. A cam follower 134 is attached to the inner side (first rotation axis A1 side) of the rotating part 132. The cam follower 134 fits into a cam groove 152 formed along the circumferential direction on the outer surface of a stationary drum 150 which is positioned inward relative to the base 130 (positioned on the first rotation axis A1 side).

[0164] When the frame 110 to which the arm 120 is attached rotates, and when the arm 120 oscillates around the pivot axis A3, the cam follower 134 moves along the cam groove 152, and consequently the rotating part 132 rotates around the second rotation axis A2, and as a result the pad 140 attached to the rotating part 132 rotates around the second rotation axis A2 in the same manner as described in the first embodiment.

[0165] Even in this configuration, the first drive unit 112 that rotates the frame 110 and the multiple second drive units 122 are synchronously controlled (the oscillation angle of each arm 120 is correctly controlled according to the rotation angle of the frame 110), so that the pads 140 rotate synchronously in accordance with the operation of the first drive unit 112 (the rotation angle of each pad 140 is correctly controlled according to the rotation angle of the frame 110).

[0166] The features of the conveying device 100A will be explained.

[0167] The conveying device 100A conveys workpieces W2 one after another while changing the conveying orientation of the workpieces W2 and the distance between the workpieces W2. The conveying device 100A comprises a frame 110, a first drive unit 112, a plurality of arms 120, a plurality of pads 140 for holding the workpieces W2, a second drive unit 122, a control unit 212, a first detection unit 116, a second detection unit 126, and a displacement detection unit 214. The first drive unit 112 rotates the frame 110 around a first rotation axis A1. The plurality of arms 120 are mounted on the frame 110 in a line along the circumferential direction around the first rotation axis A1. Each of the plurality of arms 120 swings relative to the frame 110 around a corresponding pivot axis A3 that extends parallel to the first rotation axis A1. Each of the plurality of pads 140 is mounted on a base 130 connected to the corresponding arm 120. A second drive unit 122 is provided for each of the multiple arms 120. The second drive unit 122 causes the corresponding arm 120 to swing around the pivot axis A3, thereby causing the pad 140 attached to the base 130 connected to the corresponding arm 120 to swing relative to the frame 110. The control unit 212 controls the operation of the first drive unit 112 and the multiple second drive units 122 provided for the multiple arms 120. The control unit 212 synchronously controls the multiple second drive units 122 in accordance with the operation of the first drive unit 112, at least during normal operation in which the conveying device 100 conveys the workpiece W2. The first detection unit 116 detects the first rotation angle, which is the rotation angle of the frame 110 around the first rotation axis A1. The second detection unit 126 detects the swing angles of the multiple arms 120 around the pivot axis A3. The displacement detection unit 214 detects the deviation of the frame 110's position (rotation position) from its normal position based on the first rotation angle before the transport device 100A starts operation.

[0168] In the conveying device 100A, before starting normal operation, it is possible to detect whether the frame 110 that supports the pad 140 that holds the workpiece W2 (via the arm 120) is positioned in the normal position (normal rotation position). This prevents the workpiece W2 from being passed to the downstream process in an inappropriate posture or timing, thereby realizing a highly reliable conveying device 100A.

[0169] Furthermore, the transport device 100A has the same characteristics as the transport device 100 of the first embodiment, with respect to matters not related to the third drive unit 142 and the third detection unit 144.

[0170] <Note> Finally, the technical concepts that can be understood from the above embodiments are noted below.

[0171] A conveying device according to a first aspect of the present invention conveys workpieces one after another while changing the conveying orientation of the workpieces and the distance between workpieces. The conveying device comprises a frame, a first drive unit, a plurality of arms, a plurality of pads for holding workpieces, a second drive unit, a control unit, a first detection unit, a second detection unit, and a displacement detection unit. The first drive unit rotates the frame around a first rotation axis. The plurality of arms are mounted on the frame in a line along the circumferential direction around the first rotation axis. Each of the plurality of arms swings relative to the frame around a corresponding pivot axis that extends parallel to the first rotation axis. Each of the plurality of pads is mounted on a base connected to the corresponding arm. A second drive unit is provided for each of the plurality of arms. The second drive unit swings the pads mounted on the bases connected to the corresponding arms relative to the frame by swinging the corresponding arms around their pivot axes. The control unit controls the operation of the first drive unit and the plurality of second drive units provided for the plurality of arms. The control unit synchronously controls multiple second drive units in accordance with the operation of the first drive unit, at least during normal operation in which the conveying device is transporting the workpiece. The first detection unit detects the first rotation angle, which is the rotation angle of the frame around the first rotation axis. The second detection unit detects the oscillation angle of multiple arms around their oscillation axes. The displacement detection unit detects the displacement of the frame's position from its normal position based on the first rotation angle before the start of normal operation of the conveying device.

[0172] In the first type of conveying device, before the normal operation of the conveying device begins, it is possible to detect whether the frame supporting the workpiece-holding pad (via the arm) is positioned in the correct position (correct rotation position). This prevents the workpiece from being passed to the downstream process in an inappropriate posture or timing, thereby realizing a highly reliable conveying device.

[0173] A conveying device according to a second aspect of the present invention is a conveying device according to a first aspect, wherein the normal position of the frame is the position of the frame when the normal operation of the conveying device was stopped immediately beforehand.

[0174] In the second type of conveying device, even if the frame rotates unintentionally for some reason after the normal operation of the conveying device has stopped, this can be detected, thus preventing the workpiece from being transferred to the downstream process in an inappropriate posture or at an inappropriate timing when normal operation is resumed.

[0175] A transport device according to a third aspect of the present invention is a transport device according to the first or second aspect, wherein the control unit controls the first drive unit based on the detection result of the displacement detection unit before the start of normal operation of the transport device, and moves the frame to the normal position.

[0176] In the third type of conveying device, the frame is positioned correctly before the start of normal operation, which helps to suppress problems such as workpieces being transferred to downstream processes in an inappropriate posture or timing.

[0177] A transport device according to the fourth aspect of the present invention is a transport device according to any of the first or third aspects, wherein the control unit controls the second drive unit before the start of normal operation of the transport device and changes the swing angle of each arm to a corresponding swing angle corresponding to the position of the frame.

[0178] Here, the corresponding oscillation angle for the frame position refers to the oscillation angle that each arm should take at the frame position (the oscillation angle that corresponds to the frame position).

[0179] In the fourth type of conveying device, even if the frame is out of position from its normal position, the arm is positioned in the correct location relative to the frame before normal operation begins. This helps to suppress the occurrence of problems where the workpiece is transferred to the downstream process in an inappropriate posture or timing.

[0180] A conveying device according to a fifth aspect of the present invention is a conveying device according to any of the first, fourth, or fifth aspects, further comprising a third drive unit and a third detection unit. The third drive unit is provided for each of a plurality of pads. The third drive unit rotates the corresponding pad around a second rotation axis that intersects the base. The third detection unit detects a second rotation angle, which is the rotation angle of a pad attached to the base around the second rotation axis. The control unit further controls the operation of a plurality of third drive units provided for a plurality of pads. The control unit synchronously controls the plurality of third drive units in accordance with the operation of the first drive unit, at least during normal operation in which the conveying device conveys a workpiece.

[0181] A transport device according to the sixth aspect of the present invention is a transport device according to the fifth aspect, wherein the control unit controls the second drive unit and the third drive unit before the start of normal operation of the transport device, changing the swing angle of each arm to a corresponding swing angle corresponding to the position of the frame, and changing the second rotation angle of each pad to a corresponding second rotation angle corresponding to the position of the frame.

[0182] Here, the corresponding second rotation angle to the frame position refers to the second rotation angle that each pad should take at the frame position (the second rotation angle that corresponds to the frame position).

[0183] In the sixth type of conveying device, even if the frame is misaligned from its normal position, the arms and pads are positioned in their correct locations relative to the frame before normal operation begins. This helps to suppress the occurrence of problems where workpieces are transferred to downstream processes in an inappropriate posture or timing.

[0184] A conveying device according to the seventh aspect of the present invention is a conveying device according to any of the first or sixth aspects, further comprising a stopper mechanism that suppresses the rotation of the frame while the conveying device is stopped.

[0185] In the seventh aspect of the conveying device, unintended rotation of the frame while the conveying device is stopped can be suppressed, thus preventing the workpiece from being transferred to the downstream process in an inappropriate posture or timing when the normal operation of the conveying device is started.

[0186] A transport device according to the eighth aspect of the present invention is a transport device according to any of the first or seventh aspects, wherein the control unit performs reference positioning of a plurality of arms one by one in sequence as an initial setting. The control unit performs reference positioning of the target arm when the target arm, which is the arm to be reference-positioned, is located in a predetermined area.

[0187] In the eighth type of conveying device, the arm's reference positioning (origin setting) is performed automatically, thus reducing the labor required from workers while achieving a highly reliable conveying device.

[0188] A transport device according to the ninth aspect of the present invention is a transport device according to the eighth aspect, wherein the control unit swings the target arm from a first position to a second position in a first direction while the target arm is positioned in a predetermined area. The first position is the position in which the target arm, the base connected to the target arm, or the pad attached to the target arm is pressed against the first restricting portion. The second position is the position in which the arm has been swung from the first position by a predetermined first angle in the first direction. The control unit positions the target arm at the reference position by swinging the target arm from the second position by a predetermined second angle in the direction opposite to the first direction.

[0189] In the ninth aspect of the conveying device, it can be confirmed that the arm can swing by a first angle from the first position to the second position, in other words, that the arm can swing within a desired angular range (that the swing of the arm is not obstructed by any obstacles, etc.). Furthermore, in the ninth aspect of the conveying device, by confirming that the arm can swing by a first angle in the first direction, it can be confirmed that the target arm, the base connected to the target arm, or the object against which the pad attached to the target arm is pressed is the first restricting part (that it is not an obstacle other than the first restricting part). Subsequently, the ninth aspect of the conveying device can accurately position the target arm at the reference position by swinging the target arm by a predetermined second angle in the opposite direction to the first direction from the second position.

[0190] A transport device according to the tenth aspect of the present invention is a transport device according to any of the first or ninth aspects, wherein the control unit performs reference positioning of a plurality of pads as an initial setting.

[0191] In the tenth aspect of the conveying device, the pad's reference positioning (origin setting) is performed automatically, thus enabling a highly reliable conveying device while reducing the labor required from workers.

[0192] A conveying device according to the eleventh aspect of the present invention is a conveying device according to the tenth aspect, wherein the control unit rotates the target pad, which is the pad to be aligned to the reference position, from a third position to a fourth position in a second direction. At the third position, the target pad is pressed against the second regulating part. The fourth position is a position obtained by swinging the target pad from the third position by a predetermined third angle in the second direction. The control unit positions the target pad at the reference position by rotating the target pad from the fourth position by a predetermined fourth angle in the direction opposite to the second direction.

[0193] In the conveying device of the 11th perspective, it can be confirmed that the pad can rotate by a third angle from the third position to the fourth position, in other words, that the pad can rotate within the desired angular range (that the rotation of the pad is not obstructed by any obstacles, etc.). Furthermore, in the conveying device of the 11th perspective, by confirming that the pad can swing by a third angle in the second direction, it can be confirmed that what the target pad is pressing against is the second restricting section (that it is not an obstacle other than the second restricting section). Then, the conveying device of the 11th perspective can accurately position the target pad at the reference position by swinging the target pad by a predetermined fourth angle from the fourth position in the direction opposite to the second direction.

[0194] A transport device according to the twelfth aspect of the present invention is a transport device according to any of the first or eleventh aspects, further comprising a plurality of anvils and a cutting device. The plurality of anvils are arranged between arms. The cutting device has a cutting section. The cutting device manufactures a workpiece by cutting the web received by the pad by pressing the cutting section against the anvil via the web received by the pad.

[0195] When the conveying device described in the 12th perspective has an anvil, depending on the position where the arm's reference position is set, the rotation of the arm may be hindered by the anvil. In contrast, when the conveying device described in the 12th perspective is particularly the conveying device described in the 8th or 9th perspective, the occurrence of such problems can be suppressed by selecting a predetermined area in the area where the arm's reference position is set where the anvil is less likely to hinder the swing of the arm.

[0196] A transport device according to the thirteenth aspect of the present invention is a transport device according to the twelfth aspect of the first aspect, wherein the control unit performs reference positioning of a plurality of arms one by one in sequence as an initial setting. The control unit performs reference positioning of the target arm when the target arm, which is the arm to be reference-positioned, is positioned in a predetermined area. When the control unit rotates the frame to position the target arm in the predetermined area, if a torque of a first predetermined value or more acts on the second drive unit corresponding to the arm before reference positioning, the control unit controls the second drive unit to swing the arm in the direction that reduces the torque. Alternatively, or in addition to the above, when the control unit rotates the frame to position the target arm in the predetermined area, if a torque of a second predetermined value or more acts on the third drive unit corresponding to the pad attached to the arm before reference positioning, the control unit controls the third drive unit to rotate the pad in the direction that reduces the torque.

[0197] In the transport device described in the 13th perspective, damage to the arm before reference alignment and to the pads attached to the arm before reference alignment can be suppressed.

[0198] A conveying device according to the fourteenth aspect of the present invention is a conveying device according to any of the first or thirteenth aspects, wherein a plurality of pads are interchangeably attached to a base.

[0199] In the fourteenth aspect of the conveying device, by changing the pads according to the dimensions of the workpiece being handled, one conveying device can handle multiple types of workpieces.

[0200] A conveying device according to the fifteenth aspect of the present invention is a conveying device according to the fourteenth aspect, wherein the control unit has a pad replacement mode as a control mode. In the pad replacement mode, when the longitudinal direction of each pad before replacement becomes parallel to the first rotation axis, the control unit releases the synchronous control that was being performed on the second drive unit and / or the third drive unit corresponding to the arm to which the pad is attached, and rotates the frame around the first rotation axis while stopping the swing of the arm to which the pad is attached relative to the frame and the rotation of the pad around the second rotation axis.

[0201] In the conveying device described in the 15th perspective, when replacing a pad, the pad to be replaced is positioned so that its longitudinal direction is parallel to the first rotation axis. Therefore, when attempting to replace a particular pad, adjacent pads do not get in the way of the work, making it easier for the operator to perform the pad replacement.

[0202] A transport device according to the sixteenth aspect of the present invention is a transport device according to the fourteenth or fifteenth aspect, further comprising a pad detection unit that identifies the size of a pad attached to a base.

[0203] In the conveying device described in the 16th perspective, the size of the pads can be identified, thus reducing the occurrence of incorrect pad placement by the operator.

[0204] A transport device according to the 17th aspect of the present invention is a transport device according to any of the 16th aspects of the first aspect, wherein the second detection unit and / or the third detection unit is a camera that images the arm and the pad.

[0205] In the transport device described in the 17th viewpoint, the swing angle of the arm and the second rotation angle of the pad can be easily detected by the image captured by the camera.

[0206] The present invention is useful for transporting disposable pants or diapers, or various components that make up disposable pants or diapers.

[0207] 100: Conveying device 100A: Conveying device 110: Frame 112: First drive unit 113: Motor brake (stopper mechanism) 116: First detection unit 120: Arm 122: Second drive unit 126: Second detection unit 128: Positioning pin (second restricting unit) 130: Base 140: Pad 142: Third drive unit 144: Third detection unit 148: Positioning pin (first restricting unit) 170: Pad detection unit 180: Anvil 190: Cutting device 192: Cutting unit 200: Control device 210: Calculation processing unit 212: Control unit 214: Shift detection unit 220: Memory unit A1: First rotation axis A2: Second rotation axis A3: Oscillating axis W1 :Web W2 :Work α :Third angle β :First angle

Claims

1. A conveying device that conveys workpieces one after another while changing the conveying posture of the workpieces and the distance between the workpieces, comprising: a frame; a first drive unit that rotates the frame around a first rotation axis; a plurality of arms mounted in a line along the circumferential direction around the first rotation axis, each swinging relative to the frame around a corresponding pivot axis extending parallel to the first rotation axis; a plurality of pads that hold the workpieces, each attached to a base connected to the corresponding arm; a second drive unit provided corresponding to each of the plurality of arms, which swings the corresponding arm around the pivot axis, causing the pad attached to the base connected to the corresponding arm to swing relative to the frame; a control unit that controls the operation of the first drive unit and the plurality of second drive units provided for the plurality of arms, and synchronously controls the plurality of second drive units in accordance with the operation of the first drive unit, at least during normal operation in which the conveying device conveys the workpieces; and a first detection unit that detects a first rotation angle, which is the rotation angle of the frame around the first rotation axis. A conveying device comprising: a second detection unit for detecting the oscillation angle of the plurality of arms around the oscillation axis; and a deviation detection unit for detecting the deviation of the frame's position from its normal position based on the first rotation angle before the start of normal operation of the conveying device.

2. The normal position of the frame is the position of the frame when the normal operation of the conveying device was stopped immediately before, according to claim 1.

3. The conveying device according to claim 1 or 2, wherein the control unit controls the first drive unit based on the detection result of the displacement detection unit before the start of normal operation of the conveying device, and moves the frame to the normal position.

4. The conveying device according to any one of claims 1 to 3, wherein the control unit controls the second drive unit before the start of normal operation of the conveying device, and changes the swing angle of each arm to a corresponding swing angle corresponding to the position of the frame.

5. The conveying device according to any one of claims 1 to 4, further comprising: a third drive unit provided for each of the plurality of pads, which rotates the corresponding pad around a second rotation axis extending intersecting the base; and a third detection unit that detects a second rotation angle, which is the rotation angle of the pad attached to the base around the second rotation axis, wherein the control unit further controls the operation of the plurality of third drive units provided for the plurality of pads, and synchronously controls the plurality of third drive units in accordance with the operation of the first drive unit, at least during normal operation in which the conveying device conveys the workpiece.

6. The conveying device according to claim 5, wherein the control unit controls the second drive unit and the third drive unit before the start of normal operation of the conveying device, changing the swing angle of each arm to a corresponding swing angle corresponding to the position of the frame, and changing the second rotation angle of each pad to a corresponding second rotation angle corresponding to the position of the frame.

7. The conveying device according to any one of claims 1 to 6, further comprising a stopper mechanism for suppressing the rotation of the frame while the conveying device is stopped.

8. The transport device according to any one of claims 1 to 7, wherein the control unit performs reference positioning of the plurality of arms one by one in order as an initial setting, and the control unit performs reference positioning of the target arm, which is the arm to be reference-positioned, when the target arm is located in a predetermined area.

9. The conveying device according to claim 8, wherein the control unit, with the target arm positioned in the predetermined area, swings the target arm in a first direction from a first position in which the target arm, the base connected to the target arm, or the pad attached to the target arm are pressed against the first restricting portion, to a second position which is swung by a predetermined first angle from the first position, and the control unit positions the target arm in a reference position by swinging the target arm in a predetermined second angle in the opposite direction to the first direction from the second position.

10. The transport device according to any one of claims 1 to 9, wherein the control unit performs reference positioning of the plurality of pads as an initial setting.

11. The conveying device according to claim 10, wherein the control unit rotates the target pad, which is the pad to be aligned to the reference position, in a second direction from a third position in which the target pad is pressed against the second restricting portion to a fourth position which is rotated by a predetermined third angle from the third position, and the control unit rotates the target pad from the fourth position by a predetermined fourth angle in the direction opposite to the second direction, thereby arranging the target pad to the reference position.

12. The conveying device according to any one of claims 1 to 11, further comprising: a plurality of anvils disposed between the arms; and a cutting device having a cutting section, which cuts the web received by the pad and manufactures the workpiece by pressing the cutting section against the anvil via the web received by the pad.

13. The conveying device according to any one of claims 1 to 12. The control unit, as an initial setting, sequentially aligns the reference positions of the plurality of arms one by one; the control unit aligns the reference position of the target arm while the target arm, which is the arm to be aligned, is positioned in a predetermined area; and when the control unit rotates the frame to position the target arm in the predetermined area, if a torque of a first predetermined value or more acts on the second drive unit corresponding to the arm before the reference positioning, the control unit controls the second drive unit to swing the arm corresponding to the direction that reduces the torque, and / or, if a torque of a second predetermined value or more acts on the third drive unit corresponding to the pad attached to the arm before the reference positioning, the control unit controls the third drive unit to rotate the pad corresponding to the direction that reduces the torque.

14. The conveying device according to any one of claims 1 to 13, wherein the plurality of pads are interchangeably mounted on the base.

15. The conveying device according to claim 14, wherein the control unit has a pad replacement mode as a control mode, and in the replacement mode, when the longitudinal direction of each pad before replacement becomes parallel to the first rotation axis, the control unit releases the synchronization control that was performed on the second drive unit corresponding to the arm to which the pad is attached and the third drive unit corresponding to the pad, and rotates the frame around the first rotation axis while stopping the swing of the arm to which the pad is attached relative to the frame and the rotation of the pad around the second rotation axis.

16. The conveying device according to claim 14 or 15, further comprising a pad detection unit for identifying the size of the pad attached to the base.

17. The transport device according to any one of claims 1 to 16, wherein the second detection unit and / or the third detection unit is a camera for imaging the arm and the pad.

Images