JP6862405B2 - Transport system - Google Patents

Description

Embodiments of the present invention relate to a transport system.

There is a transport device that adsorbs and transports a plurality of articles. Regarding this transport device, there is a demand for a technique capable of stably transporting articles and placing them in a predetermined position even when the articles partially overlap each other.

JP-A-2018-89732

An object to be solved by the present invention is to provide a transport system capable of transporting and placing articles more stably.

The transport system according to the embodiment includes a plurality of suction pads, an arm, and a first drive unit. The plurality of suction pads each suck a plurality of articles that are partially overlapped with each other. The arm is connected to the plurality of suction pads to move the plurality of suction pads. The first driving unit increases the distance between the suction pads so as to reduce the overlapping width between the articles. The plurality of suction pads are the first suction pad, the second suction pad that is aligned with the first suction pad in the first direction, and the third suction pad that is lined up with the first suction pad in the second direction that intersects the first direction. Including with a suction pad. The first drive unit can change the distance between the first suction pad and the second suction pad and the distance between the first suction pad and the third suction pad .

It is a perspective view which shows the transport system which concerns on embodiment. It is a perspective view which illustrates the article transported by the transport system which concerns on embodiment. It is a perspective view which illustrates the article transported by the transport system which concerns on embodiment. It is a perspective view which shows a part of the transport system which concerns on embodiment. It is a top view which shows the operation of the transport system which concerns on embodiment. It is a top view which shows the operation of the transport system which concerns on embodiment. It is a perspective view which shows the operation of the transport system which concerns on embodiment. It is a perspective view which shows the operation of the transport system which concerns on embodiment. It is a top view which shows the transport system which concerns on the modification of embodiment. It is a perspective view which illustrates the article transported by the transport system which concerns on embodiment.

Hereinafter, each embodiment of the present invention will be described with reference to the drawings.
The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of the sizes between the parts, etc. are not always the same as the actual ones. Even if the same part is represented, the dimensions and ratios of each may be represented differently depending on the drawing.
In the present specification and each figure, the same elements as those already described are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.

FIG. 1 is a perspective view showing a transport system according to an embodiment.
The transport system 1 according to the embodiment includes a transport device 100. The transport device 100 transports a predetermined article onto, for example, the transport device 200.

As shown in FIG. 1, the transport device 100 includes a base 101, an arm 110, a hand 120, and a control unit 190. The base 101 is fixed on the floor, for example. Wheels or the like may be provided on the base 101, and the base 101 may be configured to be movable on the floor surface. The arm 110 is fixed to the base 101. A hand 120 is provided at the tip of the arm 110.

The arm 110 has a plurality of rotating portions and a plurality of links. In the example shown in FIG. 1, the arm 110 has links 111a and 111b and rotating portions 112a to 112e. The rotating portions 112a to 112e are rotationally driven around the rotating shafts Ax1 to Ax5, respectively. By the operation of the rotating portions 112a to 112e, the position of the hand 120 in the vertical direction and the position in the horizontal direction can be changed.

The hand 120 has a plurality of suction pads 131 to 134. The suction pads 131 to 134 are connected to the decompression device via a pipe (not shown). By the operation of the decompression device, each of the suction pads 131 to 134 can suck and hold the article. For example, the start and release of suction by the suction pads 131 to 134 are configured to be individually controllable.

By operating the arm 110 in a state where the article is adsorbed by the suction pads 131 to 134, the article can be transported from a predetermined place onto the transport device 200. The transport device 200 has, for example, a conveyor 210. The transport device 100 releases the suction of the suction pads 131 to 134 one by one on the conveyor 210 of the transport device 200. As a result, the articles are placed one by one on the conveyor 210 of the transport device 200 and transported in a predetermined direction.

Each of the suction pads 131 to 134 may be provided with a mechanism for supporting the holding of the article A. For example, after the article is adsorbed by the adsorption pads 131 to 134, a mechanism for supporting the adsorbed article from below may be provided. As a result, it is possible to prevent the article during transportation from falling.

The control unit 190 controls the operation of each component of the transfer device 100. The control unit 190 may be incorporated into one device together with the base 101, the arm 110, and the like, or may be provided separately from these. Further, the control unit 190 may control the operation of the transport device 200 in addition to the transport device 100.

2 (a), 2 (b), 3 (a), and 3 (b) are perspective views illustrating the articles transported by the transport system according to the embodiment.
For example, the transport system 1 transports the article A shown in FIG. 2 (a). Articles A, the thickness of the central portion is greater than the thickness of the end portion, and has a so-called pin B over type. As an example, article A contains rice, soil, fertilizer, or the like. This article A is loaded on the pallet P as shown in FIG. 2 (b). The transport system 1 according to the embodiment, for example, sequentially transports the article A on the pallet P.

As shown in FIG. 2B, articles A having two or more stages are loaded on the pallet P. Further, in each stage, three or more articles A are arranged along a horizontal plane. In each stage, the plurality of articles A are placed so as to partially overlap each other. Specifically, the end of one article A is located above or below another article A. By partially overlapping the articles A in this way, the articles A can support each other and prevent the loaded articles A from collapsing. Further, by overlapping the articles A with each other, the area of the pallet P and the loaded article A can be reduced.

3 (a) and 3 (b) show the arrangement of the article A in each stage. For example, FIG. 3A shows the arrangement of articles A in the odd-numbered rows from the bottom. FIG. 3B shows the arrangement of the articles A in the even-numbered stages from the bottom. As shown in FIGS. 3 (a) and 3 (b), the arrangement of the articles A differs between the even-numbered stages and the odd-numbered stages. For example, the even-numbered array is symmetric with the odd-numbered array. According to this loading method, it is possible to more reliably prevent the load collapse of the article A.

FIG. 4 is a perspective view showing a part of the transport system according to the embodiment.
As shown in FIG. 4, the suction pads 131 to 134 can simultaneously suck and hold a plurality of articles A. Here, as shown in FIG. 4, the direction from the suction pad 131 to the suction pad 132 is defined as the first direction DR1. Further, the direction from the suction pad 131 to the suction pad 133 is defined as the second direction DR2.

The suction pad 131 and the suction pad 133 are aligned with the suction pad 132 and the suction pad 134, respectively, in the first direction DR1. The suction pad 131 and the suction pad 132 are arranged side by side with the suction pad 133 and the suction pad 134, respectively, in the second direction DR2.

5 (a) to 5 (c), 6 (a), and 6 (b) are plan views showing the operation of the transport system according to the embodiment.
The hand 120 further includes a first drive unit 141. When a plurality of articles A are adsorbed by the suction pads 131 to 134, the articles A partially overlap each other as shown in FIG. The first drive unit 141 can change the distance between the suction pads 131 to 134.

The operation of the first drive unit 141 changes the first distance D1 to the fourth distance D4. The first distance D1 is the distance between the suction pads 131 and 132 in the first direction DR1. The second distance D2 is the distance in the first direction DR1 between the suction pads 133 and 134. The third distance D3 is the distance between the suction pads 131 and 133 in the second direction DR2. The fourth distance D4 is the distance in the second direction DR2 between the suction pads 132 and 134. By expanding the first distance D1 to the fourth distance D4 by the first drive unit 141, the overlap between the articles A is eliminated.

The first drive unit 141 has expansion and contraction units 141a to 141c, for example, as shown in FIG. 5A. The expansion / contraction portion 141b is connected to the suction pads 131 and 132. The expansion / contraction portion 141c is connected to the suction pads 133 and 134. The telescopic portion 141a is connected to the telescopic portions 141b and 141c.

The telescopic portions 141a to 141c can perform the stretching operation and the contracting operation. When the telescopic portion 141a operates, the third distance D3 and the fourth distance D4 change. By the operation of the telescopic portion 141a, for example, the state of FIG. 5 (a) changes to the state of FIG. 5 (b). Further, when the telescopic portions 141b and 141c are operated, the first distance D1 and the second distance D2 change. By the operation of the expansion / contraction portions 141b and 141c, for example, the state of FIG. 5 (b) changes to the state of FIG. 5 (c). The order of operations of the telescopic portions 141a to 141c is arbitrary. It is also possible to operate these telescopic portions at the same time.

As shown in FIG. 6A, the first drive unit 141 may have the expansion / contraction units 141d and 141e. The telescopic portions 141d and 141e can perform stretching and contracting operations. When the telescopic portion 141d operates, the position of the article A adsorbed on the suction pads 131 and 134 changes, and the first distance D1 to the fourth distance D4 change. When the telescopic portion 141e operates, the position of the article A adsorbed on the suction pads 132 and 133 changes, and the first distance D1 to the fourth distance D4 change. By the operation of the expansion / contraction portions 141d and 141e, for example, the state of FIG. 6A changes to the state of FIG. 6B. The order of operation of the telescopic portions 141d and 141e is arbitrary. These telescopic parts may operate synchronously.

Each of the above-mentioned telescopic parts has, for example, a cylinder and a piston. Each telescopic part may have a motor, a linear guide, and the like. The specific structure of the stretchable portion is arbitrary as long as each stretchable portion can expand and contract in a specific direction.

FIG. 7 is a perspective view showing the operation of the transport system according to the embodiment.
First, the arm 110 moves the suction pads 131 to 134 to the position (first position) where the article A is loaded. When the arm 110 brings the suction pads 131 to 134 into contact with the article A as shown in FIG. 7A, the suction pads 131 to 134 each suck the article A. When the suction pads 131 to 134 suck the article A, the arm 110 moves the suction pads 131 to 134 upward (in the direction away from the pallet P) as shown in FIG. 7 (b).

As shown in FIG. 7C, the operation of the first drive unit 141 increases the distance between the articles A and eliminates the overlap between the articles A. The arm 110 moves the suction pads 131 to 134 to the position (second position) where the transport device 200 is provided. For example, the arm 110 positions one of the suction pads 131 to 134 directly above the conveyor 210 of the transport device 200. One of the suction pads 131 to 134 releases the suction to the article A. As a result, as shown in FIG. 7D, one article A is placed on the conveyor 210 of the transport device 200 and transported by the conveyor 210.

For example, the relative positional relationship of the suction pads 131 to 134 when sucking the article A and the relative positional relationship of the suction pads 131 to 134 when the article A is placed are set in advance. The positional relationship between the suction pads 131 to 134 when the articles A are placed is set so that the articles A do not overlap each other.

The effect of the embodiment will be described.
As shown in FIG. 2B, the articles to be transported may be partially overlapped with each other and loaded in order to prevent the load from collapsing.
As a transport system for transporting the articles shown in FIG. 2B, for example, a system for transporting articles one by one can be considered. In this case, the transport system adsorbs and transports the top-level article. If another article is piled up when the article is adsorbed, the adsorption will be released due to the weight of the other article when the adsorbed article is lifted, or the other article will move and fall. is there. However, in order to adsorb the top-level article, it is necessary to provide the transport system with a function of detecting the overlap of the articles in the loading direction and identifying the top-level article. Such features are generally expensive and increase the cost of the transport system. In addition, since it takes time to detect the overlap and identify the top-level article, the amount of articles transported (throughput) per unit time also decreases.
As another transport system, a system that adsorbs a plurality of articles at the same time can be considered. By adsorbing a plurality of articles at the same time, it is not necessary to detect the overlap at the time of adsorption. However, when the adsorbed articles are transported to another place and then the articles are released one by one, it is necessary to release the adsorption from the article located at the lowest position. If another article overlaps the desorbed article, the placement position of the desorbed article may shift or another article may fall. Therefore, in this case as well, the transport system needs a function of detecting the overlap between the articles.

In the transport system 1 according to the embodiment, when the suction pads 131 to 134 suck a plurality of articles A that overlap each other, the first drive unit 141 widens the distance between the suction pads 131 to 134. As a result, the overlapping width between the articles A is reduced. For example, the operation of the first drive unit 141 eliminates the overlap between the articles A. Therefore, even if another article A overlaps the article A that has been released from adsorption, the possibility that the placement position of the article A that has been released from adsorption shifts or the other article A falls is reduced. it can. That is, according to the embodiment, it is possible to improve the throughput of the transport system 1 while suppressing the increase in the cost of the transport system 1, and to transport and place the article A more stably.

Hereinafter, a more desirable configuration of the transport system 1 according to the embodiment will be described.

8 (a) to 8 (c) are side views showing a part of the transport system according to the embodiment.
It is desirable that the hand 120 is provided with a telescopic portion. The expansion / contraction portion changes the position of the suction surface S in the third direction intersecting the suction surface S of the suction pads 131 to 134. By providing the elastic portion, when the article A is adsorbed, the position of each adsorption surface S of the adsorption pads 131 to 134 changes according to the difference in the position of each article A in the height direction. As a result, each suction surface S of the suction pads 131 to 134 can be brought into close contact with the article A, and the article A can be sucked more stably.

For example, as shown in FIG. 8A, a tubular body 161 and an elastic member 162 are provided as expansion / contraction portions. The suction pads 131 to 134 are connected to the first drive unit 141 via the tubular body 161 respectively. Each cylinder 161 has a cylinder and a piston. One of the cylinder and the piston is fixed to the first drive unit 141, and the other of the cylinder and the piston is fixed to the suction pads 131 to 134. In each cylinder 161 the amount of the piston inserted into the cylinder changes according to the distance between the first drive unit 141 and each suction pad.

An elastic member 162 is provided on each cylinder 161. The elastic member 162 can be expanded and contracted in the third direction DR3. For example, the elastic member 162 is in a compressed state when the tubular body 161 is fully extended to the limit. That is, the elastic member 162 generates an elastic force in the direction of extending the tubular body 161. When the suction pads 131 to 134 come into contact with the article A, the reaction force from the article A to the suction pads 131 to 134 causes the tubular body 161 and the elastic member 162 to shrink. When the suction pads 131 to 134 are not in contact with the article A, the tubular body 161 is in a stretched state due to the elastic force of the elastic member 162.

As the telescopic portion, a bellows 163 may be provided as shown in FIG. 8 (b). The bellows 163 is stretchably provided in the third direction DR3.

Alternatively, as shown in FIG. 8C, a second drive unit 142 may be provided as the telescopic unit. The plurality of second drive units 142 move the suction pads 131 to 134 along the third direction DR3, respectively.

For example, the second drive unit 142 has a guide 142a, a slider 142b, and an actuator (not shown). One of the guide 142a and the slider 142b is fixed to the suction pads 131 to 134, and the other of the guide 142a and the slider 142b is fixed to the first drive unit 141. The actuator causes the slider 142b to move with respect to the guide 142a along the third direction DR3. Each second drive unit 142 can operate independently. Thereby, the position of each third direction DR3 of the suction pads 131 to 134 can be individually controlled.

The specific configuration of the second drive unit 142 can be appropriately changed as long as the suction pads 131 to 134 can be moved along the third direction DR3. For example, the second drive unit 142 may have a cylinder, a piston, and a pressure regulating unit. One of the cylinder and the piston is fixed to the suction pads 131 to 134, and the other of the cylinder and the piston is fixed to the first drive unit 141. The pressure regulating unit adjusts the pressure in the cylinder. The piston moves along the third direction DR3. The movement of the piston can be controlled by adjusting the pressure in the cylinder with the pressure regulating unit.

As shown in FIG. 1, the transport system 1 may include a first detection unit 151. The first detection unit 151 detects the overlap between the articles A adsorbed on the adsorption pads 131 to 134. The first detection unit 151 is provided on the floor surface, ceiling, or the like of the space where the transport device 100, the transport device 200, and the transport system 1 are provided.

The first detection unit 151 includes, for example, a camera. The camera photographs the article A adsorbed on the adsorption pads 131 to 134 and acquires an image. The first detection unit 151 detects the overlap between the articles A based on the image. Alternatively, the first detection unit 151 may include an infrared sensor or the like. For example, the infrared sensor irradiates light toward a position where articles A can overlap each other, and detects the intensity of the reflected light. The detected reflected light intensity changes when the articles A overlap each other and when the articles A do not overlap each other. The first detection unit 151 detects whether the articles A overlap each other based on the reflected light intensity.

The first drive unit 141 may adjust the moving distance of the suction pad according to the detection result of the first detection unit 151. For example, the first drive unit 141 increases the distance between the suction pads 131 to 134 while the first detection unit 151 detects the overlap between the articles A. When the first detection unit 151 no longer detects the overlap between the articles A, the first drive unit 141 stops the movement of the suction pads 131 to 134.

Alternatively, the first drive unit 141 may be set to increase the distance between the suction pads 131 to 134 to the limit value regardless of the detection result by the first detection unit 151. For example, after the first drive unit 141 increases the distance between the suction pads 131 to 134 to the limit value, the detection by the first detection unit 151 is executed. When the first detection unit 151 detects that the articles A overlap with each other, the transport system 1 executes the emergency mode. For example, the transfer system 1 stops the operation of the arm 110 in the emergency mode.

As shown in FIG. 1, the transport system 1 may include a notification unit 170. For example, the transport system 1 may execute the notification by the notification unit 170 in the emergency mode. The notification unit 170 notifies a person that there is an abnormality in the transport device 100 by, for example, sound, light, or vibration. The notification unit 170 may transmit a notification to a predetermined computer, terminal device, or the like via a network.

It is desirable that the transport system 1 includes a rotating portion 112a for rotating the suction pads 131 to 134, for example, as shown in FIGS. 1 and 4. The rotating portion 112a rotates the suction pads 131 to 134 around the rotation shaft Ax1. As shown in FIG. 4, the axial direction of the rotation axis Ax1 is a direction intersecting the suction surface S of the suction pads 131 to 134. For example, the axial direction passes through a region surrounded by suction pads 131-134.

The shape of the article A is rectangular in a plan view, for example, as shown in FIG. 2A. That is, the article A has a longitudinal direction and a lateral direction. Further, the longitudinal direction of a certain article A intersects the longitudinal direction of adjacent articles A as shown in FIG. 2 (b). Therefore, for example, as shown in FIG. 4, the longitudinal direction of the article A adsorbed by the suction pad 131 faces the first direction DR1, whereas the longitudinal direction of the article A adsorbed by the suction pad 132. Is facing the second direction DR2.

When the transport device 200 transports the articles A, the articles A may be aligned on the conveyor 210 in a particular orientation. In this case, it is desirable that the transport device 100 can be placed on the transport device 200 with the article A oriented in an appropriate direction. When the rotating portion 112a is provided, the suction pads 131 to 134 can be rotated by the operation of the rotating portion 112a. When the suction pads 131 to 134 rotate, the orientation of the article A changes. By the operation of the rotating portion 112a, the article A can be placed on the transport device 200 with the direction of the article A facing an appropriate direction.

For example, the arm 110 moves the suction pad 131 (first suction pad) that has sucked the article A (first article) onto the transport device 200. The rotating portion 122a rotates the suction pads 131 to 134 so that one of the longitudinal direction and the lateral direction of the first article is aligned with the transport direction of the transport device 200. After that, the suction pad 131 releases the suction to the first article, and the first article is placed on the transport device 200.
Next, in the rotating portion 122a, one of the longitudinal direction and the lateral direction of another article A (second article) adsorbed by the suction pad 132 (second suction pad) is the transport direction of the transport device 200. Rotate the suction pads 131-134 so that they are aligned. After that, the suction pad 132 releases the suction to the second article, and the second article is placed on the transport device 200.

Further, as shown in FIGS. 3A and 3B, the arrangement of the article A is different between the odd-numbered stages and the even-numbered stages. As an example, the longitudinal direction of the article A sucked by the suction pad 131 in the odd-numbered steps is different from the longitudinal direction of the article A sucked by the suction pad 131 in the even-numbered steps. For example, in the transport system 1, the number of stages of the article A loaded on the pallet P and the arrangement of the highest-level article A are input in advance. The transport system 1 counts the number of stages of the transported article A. Based on this information, the rotating unit 112a rotates the suction pads 131 to 134 so that the article A to be placed is oriented in a predetermined direction.

Further, it is desirable that the length of the suction pads 131 to 134 in the first direction DR1 and the length in the second direction DR2 are shorter than the length in the lateral direction of the article A. In this configuration, the suction pads 131 to 134 suck the article A at a position where the odd-numbered article A and the even-numbered article A overlap. By doing so, the horizontal positions of the suction pads 131 to 134 when sucking the odd-numbered articles A and the horizontal positions of the suction pads 131 to 134 when sucking the even-numbered articles A can be set. It can be virtually the same. In other words, it is not necessary to switch the position of the suction pads 131 to 134 in the horizontal direction between the time of sucking the odd-numbered article A and the time of sucking the even-numbered article A. Therefore, for example, the operation of the transport system 1 and its setting can be facilitated.

As shown in FIG. 1, the transport system 1 may include a second detection unit 152. The second detection unit 152 detects the longitudinal direction and the lateral direction of each article A. The second detection unit 152 is provided on the floor surface, ceiling, or the like of the space where the transport device 100, the transport device 200, and the transport system 1 are provided. For example, the second detection unit 152 includes a camera. The camera captures the article A and acquires an image. The second detection unit 152 detects the longitudinal direction and the lateral direction of the article A based on the image.

The second detection unit 152 may include an ultrasonic sensor. For example, an ultrasonic sensor includes a plurality of transmitters and a plurality of receivers arranged in a matrix. When the article A passes through the region where the ultrasonic waves are radiated, the distribution of the reflected wave intensity detected by the plurality of receiving units changes according to the shape of the article A. The second detection unit 152 detects the longitudinal direction and the lateral direction of the article A based on the change in the distribution.

Based on the detection result by the second detection unit 152, the rotation unit 112a rotates the suction pads 131 to 134 so that the direction of the article A to be placed faces a predetermined direction. By the detection by the second detection unit 152, the direction of the article A to be placed can be more surely turned to a predetermined direction.

It is desirable that the detection by the second detection unit 152 is executed after the overlap width between the articles A is reduced by the operation of the first drive unit 141. When the overlapping width of the articles A is small, it becomes easy to detect the articles A in the longitudinal direction and the lateral direction.
More preferably, the detection by the second detection unit 152 is executed after the overlap between the articles A is eliminated. By detecting the articles A in a state where they are separated from each other, it becomes easier to detect the articles A in the longitudinal direction and the lateral direction.

When the transport device 100 places the article A on the transport device 200, for example, one of the suction pads 131 to 134 releases the suction to the article A at a position away from the conveyor 210. This is because if the suction pads 131 to 134 are brought too close to the conveyor 210, the article A, which is not the object of placement, may come into contact with the conveyor 210 and fall onto the conveyor 210.

On the other hand, if the suction to the article A is released at a position away from the conveyor 210, the article A may be damaged due to the impact at the time of dropping. Therefore, preferably, the second drive unit 142 shown in FIG. 8C brings only one of the suction pads adsorbing the article A to be placed close to the conveyor 210. By doing so, it is possible to prevent the article A, which is not the object to be placed, from coming into contact with the conveyor 210, and it is possible to reduce the possibility that the article A will be damaged by the impact when the article A is placed.

As shown in FIG. 1, the transport system 1 may include a third detection unit 153. The third detection unit 153 detects a signal regarding the distance between the adsorbed article A and the transport device 200. The third detection unit 153 is provided, for example, on the floor surface or ceiling of the space where the hand 120, the transport device 200, and the transport system 1 are provided.

For example, the third detection unit 153 includes an optical or ultrasonic type ranging sensor. The distance measuring sensor detects the distance between the distance measuring sensor and the conveyor 210. The second drive unit 142 adjusts the position of the suction pads 131 to 134 in the height direction based on the detection result by the third detection unit 153. Thereby, for example, it is possible to prevent the article A from unintentionally coming into contact with the conveyor 210.

As shown in FIG. 1, the transport system 1 may include a fourth detection unit 154. The fourth detection unit 154 detects a signal regarding the position of the article A to be adsorbed in the height direction. For example, the fourth detection unit 154 is provided, for example, on the ceiling of the space where the hand 120 and the transfer system 1 are provided.

The fourth detection unit 154 includes, for example, an optical or ultrasonic type ranging sensor. The distance measuring sensor detects the distance in the height direction between the distance measuring sensor and the article A to be attracted at the time of suction. The fourth detection unit 154 may include a camera. The camera photographs the article A to be attracted and acquires an image. The fourth detection unit 154 detects the position of each article A in the height direction based on the image. For example, the plurality of second drive units 142 adjust the positions of the suction pads 131 to 134 in the height direction based on the detection results of the fourth detection unit 154. As a result, each suction surface S of the suction pads 131 to 134 can be brought into close contact with the article A, and the article A can be sucked more stably.

For each of the above-mentioned detection units, one detector may function as a plurality of detection units. For example, one camera may function as two or more of the first detection unit 151, the second detection unit 152, and the fourth detection unit 154. One ranging sensor may function as a third detection unit 153 and a fourth detection unit 154.

FIG. 9 is a plan view showing a transport system according to a modified example of the embodiment.
Transport system 2 according to the modification, for example, as shown in FIG. 9, a plurality of conveying apparatus 100 and carrying device C ₁ -C _n. Conveying apparatus 100, the articles _{A 1} stacked on the pallet _{P 1,} conveyed on the conveyor of the transport device _{C 1.} Similarly, the transport device 100 transports the articles A _{2 to n loaded on the pallets P 2 to n} onto the conveyors of the transport devices C 2 to _{n, respectively.} For example, the transport device 100, when conveying each article, and the pallet _P 1 to P _n, and carrier device _C 1 -C _n, between, moving along the trajectory T.

Transporter _C 1 -C _n is the placed article _A 1 to A _n, is transported toward the conveyor TC. In the transport device TC, articles A _{1 to An} are aggregated and transported to the transport devices C _{n + 1} and C _{n + 2} . For example, to the conveyor TC from conveyor _C 1 -C _n, each of the number of articles _A 1 to A _n are the transporter _{C n + 1} and _{C n + 2} to a predetermined ratio, each article is passed .. As an example, in FIG. 9, in the transport device Cn _{+ 1} , three articles A ₁ , one article A ₂ , and one article A ₃ are arranged in this order. That is, each article is transported so that the number of articles A _1, the number of articles A ₂ , and the number of articles A ₃ are in a ratio of 3: 1: 1.

The transport of the article A _1, the transport of the article A ₂ , and the transport of the article A ₃ are performed, for example, at different cycles from each other. The transportation cycle of each article is set according to the ratio of each article transported by _{the transport devices C n + 1} and C _{n + 2.} That is, the more articles are transported by the transport devices C _{n + 1} and C _{n + 2} , the shorter the transport cycle is set.

In a transport system provided with such a plurality of transport devices, many articles are transported in a short time. Therefore, it is desired that the transport device 100 can more reliably transport more articles to each transport device in a shorter time. As described above, according to the embodiment, it is possible to improve the throughput of the transport system and transport and place the article A more stably. Therefore, the invention according to the embodiment can be suitably applied to the transport system 2 shown in FIG.

FIG. 10 is a perspective view illustrating an article transported by the transport system according to the embodiment.
In the above, an example in which four articles are arranged in one stage and these articles are adsorbed by four suction pads has been described. The invention according to the embodiment is not limited to this example. For example, as shown in FIG. 10A, three articles may be arranged in one stage. As shown in FIG. 10B, five articles may be arranged in one row. The number of suction pads can be changed according to the number of articles arranged in one stage. In any of the examples, in order to prevent the load from collapsing, it is effective to partially stack the articles on top of each other. Then, according to the transport system according to the embodiment, the articles arranged in one stage can be transported at the same time, and the overlap between the articles can be eliminated during the adsorption of the articles.

Although some embodiments of the present invention have been illustrated above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, changes, etc. can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof. Moreover, each of the above-described embodiments can be implemented in combination with each other.

1, 2 Conveyor system, 100 Conveyor, 101 base, 110 arm, 111a, 111b link, 112a to 112e rotating part, 120 hand, 131-134 suction pad, 141 drive part, 141a to 141e telescopic part, 142 drive Unit, 142a guide, 142b slider, 151 1st detection unit, 152 2nd detection unit, 153 3rd detection unit, 161 cylinder, 162 elastic member, 163 bellows, 170 notification unit, 190 control unit, 200 transport device, 210 Conveyor, A, A _{1 to An} article, Ax 1 to Ax 5 rotating shaft, C _{1 to} C _{n + 2} transport device, D1 1st distance, D2 2nd distance, D3 3rd distance, D4 4th distance, DR1 1st direction, DR2 2nd direction, DR3 3rd direction, P, P _{1 to} P _n pallet, S suction surface, TC conveyor

Claims (23)

Multiple adsorption pads that adsorb multiple articles that partially overlap each other,
An arm that is connected to the plurality of suction pads and moves the plurality of suction pads,
A first drive unit that increases the distance between the suction pads so as to reduce the overlap width between the articles.
Equipped with a,
The plurality of suction pads
With the first suction pad
A second suction pad that is aligned with the first suction pad in the first direction,
A third suction pad that is aligned with the first suction pad in the second direction that intersects the first direction.
Including
The first driving unit is a transfer system capable of changing the distance between the first suction pad and the second suction pad and the distance between the first suction pad and the third suction pad. The transport system according to claim 1, wherein the first drive unit moves each of the plurality of suction pads by a distance capable of eliminating the preset overlap between the articles. A first detection unit for detecting the overlap between the articles is further provided .
The transport system according to claim 1, wherein the first drive unit increases the distance between the suction pads based on the detection result of the first detection unit. The transport system according to claim 3, wherein the first drive unit increases the distance between the suction pads until the overlap between the articles is no longer detected by the first detection unit. 3. The arm stops operating when the first detection unit detects an overlap between the articles after the first driving unit widens the distance between the suction pads to a limit value. The described transport system. Equipped with a notification unit
A claim in which notification by the notification unit is executed when the first detection unit detects an overlap between the articles after the first drive unit increases the distance between the suction pads to a limit value. 3. The transport system according to 3. The plurality of suction pads each suck the plurality of articles placed in the first position, and the plurality of suction pads are used.
The first driving unit widens the distance between the suction pads that have sucked the article.
The arm moves the plurality of adsorbed articles to a second position provided with a transport device.
The transport system according to any one of claims 1 to 6, wherein the plurality of suction pads release suction to the plurality of articles at the second position. The plurality of suction pads are further provided with a rotating portion for rotating the plurality of suction pads.
The rotation axis direction of the rotating portion passes through the region surrounded by the plurality of suction pads.
The plurality of suction pads suck the plurality of articles having a longitudinal direction and a lateral direction, respectively.
The rotator, the longitudinal direction and the one short side direction, to align the conveying direction of the article by the transporter, the transport system according to claim 7, wherein rotating the plurality of suction pads. The transport system according to claim 8, further comprising a second detection unit that detects the longitudinal direction and the lateral direction. The transport system according to claim 9, wherein the second detection unit detects the longitudinal direction and the lateral direction after the overlapping width between the articles is reduced by the first driving unit. The plurality of suction pads suck the article including the first article and the second article, and the plurality of suction pads are used.
The first adsorption pad adsorbs the first article before Symbol longitudinal direction along the first direction,
The transfer system according to any one of claims 8 to 10, wherein the second suction pad sucks the second article whose longitudinal direction is along the second direction. When the rotating portion rotates the plurality of suction pads so that one of the longitudinal direction and the lateral direction of the first article is aligned with the transport direction, the first suction pads move to the first article. Release the adsorption of
When the rotating portion rotates the plurality of suction pads so that one of the longitudinal direction and the lateral direction of the second article is aligned with the transport direction, the second suction pad moves to the second article. Release the adsorption of
The transport system according to claim 11. Any one of claims 7 to 12, further comprising a plurality of telescopic portions that are connected to the plurality of suction pads and can expand and contract independently of each other in a third direction intersecting the suction surfaces of the plurality of suction pads. The transport system described in 1. Each of the plurality of telescopic portions has a plurality of second driving portions for moving the plurality of suction pads along the third direction.
When one of the plurality of suction pads is located on the transport device, one of the plurality of second drive units moves the one of the plurality of suction pads toward the transport device.
13. The transport system according to claim 13, wherein the one of the plurality of suction pads releases suction to one of the plurality of articles, and the one of the plurality of articles is placed on the transport device. .. A third detector for detecting a signal regarding the distance between the adsorbed article and the transport device is further provided.
The transfer system according to claim 14, wherein the plurality of second drive units control the positions of the plurality of suction pads in the third direction based on the detection results of the third detection unit. Further, a fourth detection unit for detecting a signal regarding the position of the plurality of articles in the height direction when the plurality of articles are adsorbed by the plurality of suction pads is provided.
Each of the plurality of telescopic portions has a plurality of second driving portions for moving the plurality of suction pads along the third direction.
13. The transfer system according to claim 13, wherein the plurality of second drive units adjust the positions of the plurality of suction pads in the height direction based on the detection results of the fourth detection unit. The transport system according to any one of claims 1 to 16, wherein at least one end of any of the plurality of articles overlaps with another article. The transport system according to any one of claims 1 to 17, wherein the thickness of the central portion of each of the plurality of articles is larger than the thickness of the end portion. The plurality of articles are loaded in two or more stages.
The transport system according to any one of claims 1 to 18, wherein the articles partially overlap each other in each stage. Multiple adsorption pads that adsorb multiple articles that partially overlap each other,
An arm that is connected to the plurality of suction pads and moves the plurality of suction pads,
A first drive unit that increases the distance between the suction pads so as to reduce the overlap width between the articles.
The first detection unit that detects the overlap between the articles and
With
The first drive unit is a transport system that increases the distance between the suction pads until the overlap between the articles is no longer detected by the first detection unit. Multiple adsorption pads that adsorb multiple articles that partially overlap each other,
An arm that is connected to the plurality of suction pads and moves the plurality of suction pads,
A first drive unit that increases the distance between the suction pads so as to reduce the overlap width between the articles.
The first detection unit that detects the overlap between the articles and
With
A transport system in which the arm stops operation when the first detection unit detects an overlap between the articles after the first drive unit widens the distance between the suction pads to a limit value. Multiple adsorption pads that adsorb multiple articles that partially overlap each other,
An arm that is connected to the plurality of suction pads and moves the plurality of suction pads,
A first drive unit that increases the distance between the suction pads so as to reduce the overlap width between the articles.
The first detection unit that detects the overlap between the articles and
Notification unit and
With
A transport system in which the notification unit executes notification when the first detection unit detects an overlap between the articles after the first drive unit expands the distance between the suction pads to a limit value. .. Multiple adsorption pads that adsorb multiple articles that partially overlap each other,
An arm that is connected to the plurality of suction pads and moves the plurality of suction pads,
A first drive unit that increases the distance between the suction pads so as to reduce the overlap width between the articles.
A rotating unit that rotates the plurality of suction pads, and
With
The rotation axis direction of the rotating portion passes through the region surrounded by the plurality of suction pads.
The plurality of suction pads suck the plurality of articles which are placed in the first position and have a longitudinal direction and a lateral direction, respectively.
The first driving unit widens the distance between the suction pads that have sucked the article.
The arm moves the plurality of adsorbed articles to a second position provided with a transport device.
The rotating portion rotates the plurality of suction pads so that one of the longitudinal direction and the lateral direction is aligned with the transporting direction of the article by the transporting device.
The plurality of suction pads are a transport system that releases suction to the plurality of articles at the second position.

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