JP4989174B2 - Article transport device - Google Patents

Description

  The present invention relates to an apparatus for conveying articles such as containers.

Conventionally, as a boxing machine, as described in Patent Document 1, in a pilot conveyor that conveys a packaged product in order to insert the packaged product into a carton, a fixed partition plate attached to the first conveyor, And an adjustment partition plate attached to the conveyor, and by moving the second conveyor, the interval between both partition plates can be changed according to the dimensions of the packaged product.
JP 3-29705

The prior art of Patent Document 1 has the following disadvantages.
(1) An article such as a small box is merely accommodated in an interval between two partition plates that can be adjusted with respect to a change in the dimensions of the articles attached to the first and second conveyors. There is no suggestion of stably holding and transporting these articles. In particular, the case where the conveyance is used as an intermittent operation accompanied by acceleration / deceleration is not considered at all, and there is a possibility that the article may fall over or jump out of the conveyor.

  (2) The packaged goods are merely accommodated between two partition plates set at intervals. There is no suggestion that the article is smoothly received, securely held, stably transported, and smoothly discharged.

  An object of the present invention is to stably hold and convey articles of various sizes and shapes.

  Another object of the present invention is to smoothly receive articles of various sizes and shapes, hold them securely, transport them stably, and discharge them smoothly.

The invention according to claim 1 is attached to the first drive track, the plurality of first article holders attached to the first drive track, the second drive track, and the second drive track. A plurality of second article holders, wherein the first article holding surface of the first article holder and the second article holding surface of the second article holder are opposed to each other and substantially perpendicular to the longitudinal direction of the drive track. A first driving device that drives the first driving track and a second driving device that drives the second driving track, and controls the first driving device and the second driving device. By doing so, there is provided an article transporting device configured to be able to change a distance between the first article holding surface of the first article holder and the second article holding surface of the second article holder. No concave respective second article holding surface of the first article holding surface and the second article holder of the article holder, the first article holder In addition to the second article holder, and as yet a further first article holding surfaces of a pair of first article holder and a second article holding surface of the second article holder grips the upper portion of the container Is.

The invention according to claim 4 is attached to the first drive track, the plurality of first article holders attached to the first drive track, the second drive track, and the second drive track. A plurality of second article holders, wherein the first article holding surface of the first article holder and the second article holding surface of the second article holder are opposed to each other and substantially perpendicular to the longitudinal direction of the drive track. A control method for an article conveying apparatus comprising a first drive device that drives a first drive track and a second drive device that drives a second drive track, the first drive device And controlling the second driving device to make the distance between the first article holding surface and the second article holding surface substantially the same as the outer diameter of the article to be conveyed, and the article to the first article By arranging between the holding surface and the second article holding surface, and controlling the first driving device and the second driving device, The first driving device and the second driving device are simultaneously operated in a state where the distance between the first article holding surface and the second article holding surface is held substantially the same as the outer diameter of the article to be conveyed. A method for controlling an article conveying apparatus, wherein the article is moved at the same speed and conveyed at the same speed, and the first article holding surface of the first article holder is provided. In addition to gripping the bottom portion of the container by the second article holding surface of the second article holder, the second article holding surface and the second article holder second of the second article holder The upper part of the container is gripped by the article holding surface, and the container is transported .

The invention according to claim 5 is attached to the first drive track, the plurality of first article holders attached to the first drive track, the second drive track, and the second drive track. A plurality of second article holders, wherein the first article holding surface of the first article holder and the second article holding surface of the second article holder are opposed to each other and substantially perpendicular to the longitudinal direction of the drive track. A control method for an article conveying apparatus comprising a first drive device that drives a first drive track and a second drive device that drives a second drive track, the first drive device And controlling the second driving device to make the distance between the first article holding surface and the second article holding surface sufficiently larger than the outer diameter of the article to be conveyed, and holding the article in the first article holding The step of arranging between the surface and the second article holding surface, and controlling the first drive device and the second drive device , Making the distance between the first article holding surface and the second article holding surface substantially the same as the outer diameter of the article to be conveyed, and operating the first driving device and the second driving device simultaneously A step of synchronizing and driving the first drive track and the second drive track at the same speed, and controlling the first drive device and the second drive device; article having the steps of sufficiently larger than the outer diameter of the article to be conveyed a distance between the second article holding surface, and a step of excluding from between the articles first article holding surface and the second article retaining surface In addition to gripping the bottom portion of the container by the first article holding surface of the first article holder and the second article holding surface of the second article holder, another method The first article holding surface of the first article holder and the second article holding surface of the second article holder. Gripping the upper portion of the container, in which so as to transport the container.

  As shown in FIG. 1, the container transport device 10 is provided with a first drive track 11 and a second drive track 21 in parallel so that the container 1 can be transported along the longitudinal direction of these drive activations 11, 21. . The first drive track 11 and the second drive track 21 are made of, for example, a steel belt.

  The container transfer device 10 is attached to a plurality of first article holders 12 attached at fixed intervals along the longitudinal direction of the first drive track 11 and at fixed intervals along the longitudinal direction of the second drive track 21. A plurality of second article holders 22 provided. The first article holding surface 13 of the first article holder 12 and the second article of the second article holder 22 between adjacent article holders 12 and 22 in the longitudinal direction of the drive tracks 11 and 21. The holding surfaces 23 face each other and are substantially orthogonal to the longitudinal direction of the drive tracks 11 and 21.

  The container transport device 10 includes a first drive device 14 that drives the first drive track 11 and a second drive device 24 that drives the second drive track 21. The first driving device 14 and the second driving device 24 are constituted by, for example, servo motors.

  The container transport device 10 adjusts the positions of the first article holding surface 13 and the second holding surface 23 by controlling the first driving device 14 and the second driving device 24 independently of each other. The distance (accepting / discharging interval of the bottom portion 2 of the container 1 and gripping interval with respect to the bottom portion 2 of the container 1) can be changed.

  Here, the container transport apparatus 10 makes each of the first holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 concave. 2A shows the V-shaped concave article holding surfaces 13 and 23, FIG. 2B shows the circular concave article holding surfaces 13 and 23, and FIG. 2C shows the polygonal concave article holding surface. 13 and 23 are shown.

  Further, in the container transport device 10, each of the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 can be elastically displaced with respect to the container 1. It can also be done. FIG. 3 shows a structure in which concave-shaped article holding surfaces 23 and 23 are formed by adhering V-shaped concave hard holders 13A and 23A to the surfaces of article holders 12 and 22 made of an elastic flat plate such as rubber. is there. FIG. 4 shows a structure in which the holding bodies 13A and 23A in FIG. 3 are combined with a number of columnar bodies. In FIG. 5, holding bodies 13A and 23A made of an elastic flat plate are bonded to the V-shaped concave surfaces of the hard article holders 12 and 22, and concave article holding surfaces 13 and 23 are formed. FIG. 6 shows a structure in which concave article holding surfaces 13 and 23 are formed by adhering holding bodies 13A and 23A made of an elastic plate material having a convex surface to the V-shaped concave surfaces of the hard article holders 12 and 22. It is. FIG. 7 shows an article holding surface 13, 23 that can be elastically deformed into a concave shape by providing flat elastic diaphragms 13A, 23A such as rubber films on the front surface of the V-shaped concave shape of the hard article holders 12, 22. Is formed.

  Hereinafter, the conveyance operation | movement which grips the bottom part 2 of the container 1 using the container conveyance apparatus 10 is demonstrated (FIGS. 8-10).

(1) Container receiving process (Figure 8)
The distance between the first article holding surface 13 of the first article holder 12 and the second article holding face 23 of the second article holder 22 by controlling the first driving device 14 and the second driving device 24. Is set to a distance K1 sufficiently larger than the outer diameter of the bottom portion 2 of the container 1 to be transported. Subsequently, the bottom portion 2 of the container 1 is disposed between the first article holding surface 13 and the second article holding surface 23. Further, here, the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 is defined as the outer diameter of the bottom portion 2 of the container 1 to be transported. You may set to the substantially same distance L1.

  The pitch p1 of the adjacent first article holders 12 provided on the first drive track 11 and the pitch p2 of the adjacent second article holders 22 provided on the second drive track 21 are equal.

(2) Container gripping process (Figure 9)
The distance between the first article holding surface 13 of the first article holder 12 and the second article holding face 23 of the second article holder 22 by controlling the first driving device 14 and the second driving device 24. Is set to a distance L1 substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported, and the bottom portion 2 is gripped. It should be noted that this distance setting operation is not required when the distance L1 has already been set in the container receiving process. The first article holding surface 13 of the first article holder 12 moves in the a direction, and the second article holding surface 23 of the second article holder 22 moves in the b direction.

  A certain clearance can be provided between the article holding surfaces 13 and 23 and the bottom portion 2 by setting the distance L1 between the opposed article holding surfaces 13 and 23.

(3) Container transport process (Figure 10)
The first driving device 14 and the second driving device 24 are simultaneously operated to move the first driving track 11 and the second driving track 21 at the same speed, thereby transporting the container 1 in the direction a. The drive devices 14 and 24 composed of servo motors synchronize the speed and acceleration, and move the first drive track 11 and the second drive track 21 at the same speed and acceleration in the same transport direction and transport distance D.

  When stopping, the container 1 is filled and capped. This container transport process is repeated, and the work on the article such as the container is performed one or more times.

(4) Container discharging step By controlling the first driving device 14 and the second driving device 24, the first article holding surface 13 of the first article holder 12 and the second article holder 22 of the second article holder 22 are controlled. The distance of the article holding surface 23 is set to a distance K1 that is sufficiently larger than the outer diameter of the bottom portion 2 of the container 1 to be transported, as in the above (1). Further, the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 is substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported. The distance L1 may be maintained. Subsequently, the bottom portion 2 of the container 1 is removed from between the first article holding surface 13 and the second article holding surface 23.

  The steps (1) to (4) described above are performed for the container 1 to be transported by the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22. If it is carried out while keeping the distance L1 substantially the same as the outer diameter of the bottom portion 2, the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 will be described. The time to change the time is not required and productivity is improved.

  The steps (1) and (4) described above are performed for the container 1 to be transported by the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22. The distance K 1 is set to be sufficiently larger than the outer diameter of the bottom portion 2, and the above steps (2) and (3) are performed on the first article holding surface 13 of the first article holder 12 and the second article holder 22. If the distance is changed to K1 and L1 such that the distance of the article holding surface 23 is set to a distance L1 that is substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported, the bottom of the container 1 is more reliably secured. The container 1 can be gripped at high speed and can be conveyed at high speed without rattling.

The container transport device 10 has the following operational effects.
(a) In the container transport device 10, each of the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 has a concave shape. Accordingly, the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 are adjusted while their distance is adjusted according to the size and shape of the container 1. Are held between the concave holding surfaces 13 and 23. Therefore, the containers 1 having various sizes and shapes are stably transported without being shifted in a direction orthogonal to the transport direction of the transport device 10.

  (b) Since the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 can be elastically displaced with respect to the container 1, the first article Even when the distance between the first article holding surface 13 of the holder 12 and the second article holding surface 23 of the second article holder 22 is fixed, it is possible to ensure the compatibility with respect to the variation of the dimensional shape of the container 1.

  (c) The first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 stably hold the bottom portion 2 of various dimensions and shapes of the container 1. Can be transported.

  (d) By controlling the first driving device 14 and the second driving device 24, the distance between the first article holding surface 13 and the second article holding surface 14 is determined from the outer diameter of the container 1 to be transported. The container 1 is smoothly received by the step of sufficiently large and the step of disposing the container 1 between the first article holding surface 13 and the second article holding surface 23;

  By controlling the first driving device 14 and the second driving device 24, the distance between the first article holding surface 13 and the second article holding surface 23 is substantially the same as the outer diameter of the container 1 to be transported. The container 1 is securely held by the step of

The first driving device 14 and the second driving device 24 are simultaneously operated to synchronize the first driving track 11 and the second driving track 21 and move them at the same speed to convey the container 1. Transport stably,
A step of making the distance between the first article holding surface 13 and the second article holding surface 23 sufficiently larger than the outer diameter of the container 1 to be transported by controlling the first driving device 14 and the second driving device 24. The container 1 can be smoothly discharged by the step of removing the container 1 from between the first article holding surface 13 and the second article holding surface 23.

  The container transport apparatus 10A in FIGS. 11 to 13 includes a first drive track 11, a first article holder 12, a first article holding surface 13, a first article corresponding to the bottom portion 2 of the container 1 in the container transport apparatus 10 described above. 1 drive device 14, second drive track 21, second article holder 22, second article holding surface 23, second drive device 24, and another set, upper portion of container 1, In particular, the first drive track 111, the first article holder 112, the first article holding surface 113, the first drive device 114, the second drive track 121, the second article holder 122, which correspond to the neck portion 3, A second article holding surface 123 and a second driving device 124 are provided.

  The container transport device 10A is provided with drive tracks 111 and 121 made of, for example, a steel belt, in parallel with the drive tracks 11 and 21 above the drive tracks 11 and 21. The container transfer device 10 </ b> A is attached to a plurality of first article holders 112 attached at fixed intervals along the longitudinal direction of the first drive track 111 and at fixed intervals along the longitudinal direction of the second drive activation 121. A plurality of second article holders 122. The first article holding surface 113 of the first article holder 112 and the second article of the second article holder 122 between adjacent article holders 112 and 122 in the longitudinal direction of the drive tracks 111 and 121. The holding surfaces 123 face each other and are substantially orthogonal to the longitudinal direction of the drive tracks 111 and 121.

  The container transfer device 10 </ b> A includes a first drive device 114 that drives the first drive track 111 and a second drive device 124 that drives the second drive track 121. The first driving device 114 and the second driving device 124 are constituted by servo motors, for example.

  The container transfer device 10A adjusts the positions of the first article holding surface 113 and the second article holding surface 123 by reliably controlling the first driving device 114 and the second driving device 124 to each other. (The receiving / discharging interval of the neck portion 3 of the container 1 and the holding interval of the container 1 with respect to the neck portion 3) can be changed.

  Therefore, the conveyance operation for holding the bottom portion 2 and the neck portion 3 of the container 1 using the container conveyance device 10A is as follows (FIGS. 11 to 13).

(1) Container receiving process (Figure 11)
By controlling the first driving device 14 and the second driving device 24, the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 are controlled. The distance is set to a distance K1 sufficiently larger than the outer diameter of the bottom portion 2 of the container 1 to be transported. Subsequently, the bottom portion 2 of the container 1 is disposed between the first article holding surface 13 and the second article holding surface 23. Further, here, the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 is defined as the outer diameter of the bottom portion 2 of the container 1 to be transported. You may set to the substantially same distance L1.

  At the same time, the first article holding surface 113 of the first article holder 112 and the second article holding face 123 of the second article holder 122 are controlled by controlling the first driving device 114 and the second driving device 124. Is set to a distance K2 sufficiently larger than the outer diameter of the neck 3 of the container 1 to be transported. When K2 is further larger than the distance L1 substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported, the container is ready to be received. Subsequently, the neck portion 3 of the container 1 is disposed between the first article holding surface 113 and the second article holding surface 123.

(2) Container gripping process (FIGS. 11 and 12)
The distance between the first article holding surface 13 of the first article holder 12 and the second article holding face 23 of the second article holder 22 by controlling the first driving device 14 and the second driving device 24. Is set to a distance L1 substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported. It should be noted that this distance setting operation is not required when the distance L1 has already been set in the container receiving process. The first article holding surface 13 of the first article holder 12 moves in the a direction, and the second article holding surface 23 of the second article holder 22 moves in the b direction.

  At the same time, the first article holding surface 113 of the first article holder 112 and the second article holding face 123 of the second article holder 122 are controlled by controlling the first driving device 114 and the second driving device 124. Is set to a distance L2 that is substantially the same as the outer diameter of the neck portion 3 of the container 1 to be transported, and the neck portion 3 is gripped. The position at which the neck portion 3 is gripped is set immediately before the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 is set. This is preferable from the viewpoint of preventing displacement. The first article holding surface 113 of the first article holder 112 moves in the a direction, and the second article holding surface 123 of the second article holder 122 moves in the b direction.

(3) Container transport process (Figure 12)
The first driving device 14 and the second driving device 24 are simultaneously operated to move the first driving track 11 and the second driving track 21 at the same speed, thereby transporting the container 1 in the direction a. The drive devices 14 and 24 composed of servo motors synchronize the speed and acceleration, and move the first drive track 11 and the second drive track 21 at the same speed and acceleration in the same transport direction and transport distance.

  At the same time, the first driving device 114 and the second driving device 124 are simultaneously operated to move the first driving track 111 and the second driving track 121 at the same speed and to transport the container 1 in the direction a. . The drive devices 114 and 124 formed of servo motors synchronize the speed and acceleration, and move the first drive track 111 and the second drive track 121 at the same speed and acceleration in the same transport direction and transport distance.

  When stopping, the container 1 is filled and capped. This container transport process is repeated, and the work on the article such as the container is performed one or more times.

(4) Container discharge process (Figure 13)
The distance between the first article holding surface 13 of the first article holder 12 and the second article holding face 23 of the second article holder 22 by controlling the first driving device 14 and the second driving device 24. Is set to a distance K1 that is sufficiently larger than the outer diameter of the bottom portion 2 of the container 1 to be transported, as in (1) above. Further, the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 is substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported. The distance L1 may be maintained. The first article holding surface 13 of the first article holder 12 moves in the c direction, and the second article holding surface 23 of the second article holder 22 moves in the d direction. Subsequently, the bottom portion 2 of the container 1 is removed from between the first article holding surface 13 and the second article holding surface 23.

  At the same time, the first article holding surface 113 of the first article holder 112 and the second article holding face 123 of the second article holder 122 are controlled by controlling the first driving device 114 and the second driving device 124. Is set to a distance K2 that is sufficiently larger than the outer diameter of the neck 3 of the container 1 to be transported, as in (1) above. If K2 is further larger than the distance L1 substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported, the container can be easily discharged. The first article holding surface 113 of the first article holder 112 moves in the c direction, and the second article holding surface 123 of the second article holder 122 moves in the d direction. The opening timing of the neck portion 3 is performed immediately after the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 is set. It is preferable in terms of prevention. Subsequently, the neck portion 3 of the container 1 is removed from between the first article holding surface 113 and the second article holding surface 123.

  In the steps (1) to (4), the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22 is the container to be transported. If it is carried out while maintaining the distance L1 substantially the same as the outer diameter of the bottom portion 2 of the first article 2, the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22. The time for changing the distance is not required and productivity is improved. Moreover, since the neck portion 3 of the container 1 to be transported is gripped and transported, the container can be transported at high speed without rattling, and the amount of misalignment during transportation and when stopped can be minimized.

  In the steps (1) and (4), the container 1 to be transported the distance between the first article holding surface 13 of the first article holder 12 and the second article holding surface 23 of the second article holder 22. The distance K1 is sufficiently larger than the outer diameter of the bottom portion 2 of the first article holding surface 13 of the first article holder 12 and the second article holder 22 in the steps (2) and (3). When the distance is changed to K1 and L1, respectively, such that the distance of the second article holding surface 23 is set to a distance L1 that is substantially the same as the outer diameter of the bottom portion 2 of the container 1 to be transported, the container 1 becomes more. The bottom of the container 1 can be securely gripped, and the container 1 can be conveyed at high speed without rattling.

  According to the container conveyance device 10 </ b> A, the first article holding surface 113 of the first article holder 112 and the second article holding surface 123 of the second article holder 122 allow the neck portion 3 of various dimensions and shapes of the container 1 to be used. It can be stably held and transported.

  The present invention can also be applied to a conveying apparatus for articles other than containers.

FIG. 1 is a perspective view showing a container transfer device. FIG. 2 is a schematic diagram showing concave article holding surfaces of the first and second article holders. FIG. 3 is a schematic diagram showing a first example of the elastic displacement structure of the article holding surfaces of the first and second article holders. FIG. 4 is a schematic diagram showing a second example of the elastic displacement structure of the article holding surfaces of the first and second article holders. FIG. 5 is a schematic diagram showing a third example of the elastic displacement structure of the article holding surfaces of the first and second article holders. FIG. 6 is a schematic diagram showing a fourth example of the elastic displacement structure of the article holding surfaces of the first and second article holders. FIG. 7 is a schematic view showing a fifth example of the elastic displacement structure of the article holding surfaces of the first and second article holders. FIG. 8 is a schematic view showing a container receiving step of a transport operation for gripping the bottom portion of the container. FIG. 9 is a schematic diagram showing a container gripping process of a transport operation for gripping the bottom portion of the container. FIG. 10 is a schematic diagram illustrating a container transport process of a transport operation for gripping the bottom portion of the container. FIG. 11 is a schematic view showing a container receiving process of a transport operation for gripping the bottom part and the neck part of the container. FIG. 12 is a schematic diagram showing a container transport process of a transport operation for gripping the bottom part and the neck part of the container. FIG. 13 is a schematic diagram showing a container discharging step of a transport operation for gripping the bottom part and the neck part of the container.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Container 2 Bottom part 3 Neck part 10, 10A Container conveyance apparatus 11, 111 1st drive track | truck 12, 112 1st article holder 13,113 1st article holding surface 14,114 1st drive apparatus 21,121 Second drive track 22, 122 Second article holder 23, 123 Second article holding surface 24, 124 Second drive device

Claims (5)

A first drive track, a plurality of first article holders attached to the first drive track, a second drive track, and a plurality of second article holders attached to the second drive track The first article holding surface of the first article holder and the second article holding surface of the second article holder are opposed to each other and substantially orthogonal to the longitudinal direction of the drive track,
A first drive device that drives the first drive track and a second drive device that drives the second drive track, and by controlling the first drive device and the second drive device, An article transport apparatus configured to be capable of changing a distance between a first article holding surface of a first article holder and a second article holding surface of a second article holder,
Each of the first article holding surface of the first article holder and the second article holding surface of the second article holder has a concave shape ,
In addition to the first article holder and the second article holder, the first article holding surface of the other first article holder and the second article holding surface of the second article holder are located above the container. Conveying device for articles that grip the part .   The article conveying apparatus according to claim 1, wherein each of the first article holding surface of the first article holder and the second article holding surface of the second article holder can be elastically displaced with respect to the article.   The article transport apparatus according to claim 1 or 2, wherein the first article holding surface of the first article holder and the second article holding surface of the second article holder grip the bottom portion of the container. A first drive track, a plurality of first article holders attached to the first drive track, a second drive track, and a plurality of second article holders attached to the second drive track The first article holding surface of the first article holder and the second article holding surface of the second article holder are opposed to each other and substantially orthogonal to the longitudinal direction of the drive track,
A control method for an article transport device comprising a first drive device for driving a first drive track and a second drive device for driving a second drive track,
Controlling the first drive device and the second drive device to make the distance between the first article holding surface and the second article holding surface substantially the same as the outer diameter of the article to be conveyed;
Disposing the article between the first article holding surface and the second article holding surface;
By controlling the first driving device and the second driving device, the distance between the first article holding surface and the second article holding surface is held substantially the same as the outer diameter of the article to be transported, Moving the first drive device and the second drive device simultaneously to synchronize the first drive track and the second drive track and moving the articles at the same speed;
A method for controlling an apparatus for conveying an article having
In addition to gripping the bottom portion of the container by the first article holding surface of the first article holder and the second article holding surface of the second article holder, the first of the other first article holder A method for controlling an article transporting apparatus that grips an upper portion of a container by the article holding surface of the second article holding surface and the second article holding surface of the second article holder and transports the container . A first drive track, a plurality of first article holders attached to the first drive track, a second drive track, and a plurality of second article holders attached to the second drive track The first article holding surface of the first article holder and the second article holding surface of the second article holder are opposed to each other and substantially orthogonal to the longitudinal direction of the drive track,
A control method for an article transport device comprising a first drive device for driving a first drive track and a second drive device for driving a second drive track,
Controlling the first driving device and the second driving device to make the distance between the first article holding surface and the second article holding surface sufficiently larger than the outer diameter of the article to be conveyed;
Disposing the article between the first article holding surface and the second article holding surface;
Controlling the first drive device and the second drive device to make the distance between the first article holding surface and the second article holding surface substantially the same as the outer diameter of the article to be conveyed;
Moving the first drive device and the second drive device simultaneously to synchronize the first drive track and the second drive track and moving the articles at the same speed;
Controlling the first driving device and the second driving device to make the distance between the first article holding surface and the second article holding surface sufficiently larger than the outer diameter of the article to be conveyed;
Removing the article from between the first article holding surface and the second article holding surface, and a control method for the article conveying apparatus,
In addition to gripping the bottom portion of the container by the first article holding surface of the first article holder and the second article holding surface of the second article holder, the first of the other first article holder A method for controlling an article transporting apparatus that grips an upper portion of a container by the article holding surface of the second article holding surface and the second article holding surface of the second article holder and transports the container .

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