JP7202485B2 - Conveyor and Conveyor System - Google Patents

Description

The present invention relates to a work transfer technology.

When a work is transported between one device and another device, if there is a positional deviation between the one device and the other device, the work cannot be transported smoothly. Therefore, it is necessary to align the devices with each other. In particular, when transferring a work from the AGV to a fixed conveyor, or from a fixed conveyor to the AGV, such as in a transfer system using an automatic guided vehicle (AGV), each time the work is transferred to the fixed conveyor It is necessary to align the AGV with respect to it.

Patent Literature 1 discloses a mechanism for positioning an AGV at a predetermined position. Japanese Patent Laid-Open No. 2002-200001 discloses a technique for positioning the stop position of an AGV by control. Patent Literature 3 discloses a technique of providing a slide table on an AGV and using displacement of the slide table due to engagement with an extendable rod to align devices.

JP-A-05-069261 JP-A-2000-010632 Japanese Utility Model Laid-Open No. 01-079109

As in Patent Document 1, the apparatus that adjusts the position of the entire AGV by driving force requires a large driving force, i.e., an expensive driving mechanism, for alignment when the weight of the workpiece or the AGV itself is heavy. Disadvantageous in terms of size and equipment cost. Further, as in Patent Document 2, alignment is performed by controlling a position detecting device and an arithmetic device, which is disadvantageous in that it takes time for adjustment. Furthermore, the technique disclosed in Patent Document 3 involves a two-stage operation of positioning the slide table and then carrying the workpiece. There is room for improvement in that it is necessary to perform positioning in advance.

An object of the present invention is to reliably transfer a work between one device and another device even if the alignment of at least one device with respect to the other device is loose when the work is transferred between the devices. is to provide a technology that enables

According to the invention, for example,
A conveying device positioned between a first device and a second device and conveying an object to be conveyed in a predetermined conveying direction,
a base provided between the first device and the second device;
a conveying means for conveying the object to be conveyed;
a movable portion provided between the base portion and the conveying means for allowing the conveying means to move in a direction intersecting the conveying direction;
positioning means provided in the transport means for positioning the transport means in a direction intersecting the transport direction;
The positioning means are
a first alignment portion that engages with a first engagement portion included in the first device and performs alignment between the transport direction of the first device and the transport direction of the transport means;
A second position that engages with a second engaging portion that is provided corresponding to the position of the second device and aligns the conveying direction of the second device with the conveying direction of the conveying means. a mating portion;
There is provided a conveying device characterized by:

According to the present invention, when a work is transferred between one device and another device, even if the alignment of at least one device with respect to the other device is loose, the work can be reliably transferred between the devices. We can provide technology that enables

1 is a plan view of a transport system according to one embodiment of the present invention; FIG. 2 is a side view of the transport system of FIG. 1; FIG. FIG. 2 is an exploded view (plan view) of the conveying device; The exploded view (side view) of a conveying apparatus. The perspective view of a positioning unit. FIG. 4 is an explanatory diagram of the operation of the positioning unit; Operation explanatory drawing of a retraction unit. Operation explanatory drawing of a retraction unit. Operation explanatory drawing of an extrusion unit. Operation explanatory drawing of an extrusion unit. A block diagram of a control device. Explanatory drawing of the positioning operation|movement of a conveying apparatus. Explanatory drawing of the positioning operation|movement of a conveying apparatus. Explanatory drawing of the positioning operation|movement of a conveying apparatus. 4 is a flowchart showing an example of control; The figure which shows another example of an alignment part and an engaging part. The figure which shows another example of a conveying system. The figure which shows another example of a conveying system. The figure which shows another example of a support unit. The figure which shows another example of a support unit. The figure which shows another example of a support unit.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Also, the same or similar configurations are denoted by the same reference numerals, and redundant explanations are omitted.

<First embodiment>
<Overview of the system>
FIG. 1 is a plan view of a transport system 1 according to one embodiment of the present invention, and FIG. 2 is a side view of the transport system 1. As shown in FIG. In each figure, arrows X and Y indicate horizontal directions orthogonal to each other, and arrow Z indicates the vertical direction. 1, illustration of the plate 11 of the positioning unit 10B is omitted, and only the outline of the movable portion 45B is indicated by broken lines.

The transport system 1 includes transport devices 2 to 4, and transports the work W, which is the object to be transported, on the pallet PL by transporting the pallet PL. The pallets PL are transported in the order of the transport device 2→the transport device 4→the transport device 3, or in the order of the transport device 3→the transport device 4→the transport device 2. The pallet PL has a rectangular frame-shaped main body and engaging pins P erected at the four corners of the main body. The work W is a large thin plate, such as a vehicle door panel, and is mounted on the main body of the pallet PL. Although the pallet PL is used to transport the work W in this embodiment, it is also possible to adopt a form in which the work W is directly transported without using the pallet PL.

The transport device 2 is a self-propelled transport device typified by an automatic guided vehicle (AGV). The transport device 2 includes transport units 20A and 20B spaced apart in the Y direction, and a traveling unit 23 on which the transport units 20A and 20B are mounted. The transport units 20A and 20B constitute a placement section on which the pallet PL is placed. The transport unit 20A of the present embodiment is used when transferring the pallet PL in the direction of the transport device 2→the transport device 4. FIG. Further, the transport unit 20B is used when transferring the pallet PL in the direction of the transport device 4→the transport device 2. FIG. In the present embodiment, the transport units 20A and 20B have the same configuration, and in the following description, the transport unit 20A or 20B may be referred to as the transport unit 20 without distinguishing between the two.

The transport unit 20 is composed of a pair of roller units 21 spaced apart in the Y direction. Each roller unit 21 is provided with a row of rollers composed of a plurality of rollers 22 arranged in the X direction. Each roller 22 is a free roller rotatable around an axis provided parallel to the Y direction. The transfer of the pallet PL between the conveying device 2 and the conveying device 4 is performed by a retracting unit 7 or a pushing unit 8, which will be described later. Each roller 22 of the roller unit 21 may be a drive roller capable of transporting the pallet PL. In this case, the pallet PL can be transferred between the transport device 2 and the transport device 4 by driving the pair of roller units 21 . Note that the transport mechanism of the transport unit 20 can employ a configuration other than the roller conveyor as in the present embodiment, and may be a belt conveyor, a chain conveyor, or the like, for example.

The traveling unit 23 includes a plurality of wheels 23a and a drive source such as a motor that drives some of the wheels 23a. The transport device 2 can travel on the floor by driving the travel unit 23 . Engagement portions 5A and 5B are attached to a support bracket 24 fixed to the front side (left side in FIG. 2) of the travel unit 23. As shown in FIG. Engagement portions 5A and 5B are used for alignment between transport device 2 and transport device 4. FIG. The height of the support bracket 24 and the attachment positions of the engaging portions 5A and 5B are adjusted so that the engaging portions 5A and 5B are at the same height as the positioning portion 12, which will be described later.

The transport device 3 is a stationary transport device installed on the floor. The transport device 3 includes transport units 30A and 30B spaced apart in the Y direction. The transport unit 30A of this embodiment is used when transporting the pallet PL in the D1 direction (parallel to the X direction). Further, the transport unit 30B is used when transporting the pallet PL in the D3 direction (parallel to the X direction and opposite to D1). In the present embodiment, the transport units 30A and 30B have the same configuration, and in the following description, the transport unit 30A or 30B may be referred to as the transport unit 30 without distinguishing between the two.

The transport unit 30 is composed of a pair of roller units 31 spaced apart in the Y direction. Each roller unit 31 includes a single row of rollers 32 arranged in the X direction. Each roller 32 is a drive roller rotatable around an axis provided parallel to the Y direction. Note that the transport mechanism of the transport unit 30 can employ a configuration other than the roller conveyor as in the present embodiment, and may be, for example, a belt conveyor, a chain conveyor, or the like.

The transport device 4 is a stationary transport device positioned between the transport device 2 and the transport device 3 and installed on the floor surface. The transport device 4 can also be called a relay device in that it relays the transport of the pallet PL between the transport device 2 and the transport device 3 . The transport device 4 includes transport units 40A and 40B spaced apart in the Y direction. The transport unit 40A of this embodiment is used when transporting the pallet PL in the D1 direction. Further, the transport unit 40B is used when transporting the pallet PL in the D3 direction. In the present embodiment, the transport units 40A and 40B have the same configuration, and in the following description, the transport unit 40A or 40B may be referred to as the transport unit 40 without distinguishing between the two.

The transport unit 40 is composed of a pair of roller units 41 spaced apart in the Y direction. Each roller unit 41 includes a single row of rollers 42 arranged in the X direction. Each roller 42 is a drive roller rotatable around an axis provided parallel to the Y direction. Note that the transport mechanism of the transport unit 40 can employ a configuration other than the roller conveyor as in the present embodiment, and may be, for example, a belt conveyor, a chain conveyor, or the like.

Here, the overall operation of the transport system 1 will be described. The conveying device 2 loaded with the work W together with the pallet PL travels to a position adjacent to the conveying device 4 by itself. The pallet PL is transported in the order of the transport unit 20A of the transport device 2→the transport unit 40A of the transport device 4→the transport unit 30A of the transport device 3 in the direction of the arrow D1.

The pallet PL is transferred to another conveying system, a processing device, or the like at the downstream end of the conveying device 3 in the direction of the arrow D1. Then, the same or another pallet PL supplied from another transport system, processing device, or the like is transferred to the transport device 3 . An arrow D2 schematically shows an example in which the same pallet PL is returned to the conveying device 3. FIG. After that, the pallet PL is transported in the direction of the arrow D3 in the order of the transport unit 30B of the transport device 3→the transport unit 40B of the transport device 4→the transport unit 20B of the transport device 2. FIG. The transport device 2 that has received the work W together with the pallet PL travels to another station. Thus, one unit of operation is completed.

The transport device 4 is provided to transport the pallet PL between the transport device 2 and the transport device 3 without delay even if there is a positional deviation in the Y direction between the transport device 2 and the transport device 3. there is If accurate positioning is possible between the conveying device 2 and the conveying device 3, in other words, if there is no positional deviation in the Y direction between the conveying device 2 and the conveying device 3, the pallet can be moved without the conveying device 4. The PL can be transported without delay. However, since the conveying device 2 is a self-propelled conveying device, the stop position may deviate. At this time, if the stop position of the conveying device 2 is controlled with higher accuracy, it becomes a factor of cost increase and transfer efficiency decrease (increase of cycle time).

In this embodiment, the transport unit 40 is freely movable in the Y direction. When the pallet PL is transferred between the transporting device 2 and the transporting device 4, the transporting unit 40 is moved and positioned so as to be continuous with the transporting unit 20. FIG. Specifically, alignment is performed so that the transport track of the transport unit 40 matches the transport track of the transport unit 20 so that the pallet PL can be smoothly transferred between the transport devices 2 and 4. will be Further, when the pallet PL is transferred between the transport device 3 and the transport device 4, the transport unit 40 is moved and positioned so as to be continuous with the transport unit 30. FIG. Specifically, alignment is performed so that the transport track of the transport unit 40 matches the transport track of the transport unit 30 so that the pallet PL can be smoothly transferred between the transport devices 3 and 4. will be As a result, the pallet PL can be transported by the transporting device 4 while absorbing the positional deviation in the Y direction between the transporting device 2 and the transporting device 3 . The configuration of the transport device 4 will be described in detail below.

<Conveyor>
The conveying device 4 will be described with reference to FIGS. 3 and 4 in addition to FIGS. 3 and 4 are an exploded view (plan view) and an exploded view (side view) of the conveying device 4. FIG. 4 omits illustration of the transport unit 40B, the positioning unit 10B, the movable part 45B, and the extrusion unit 8. As shown in FIG.

The transport device 4 includes the aforementioned transport units 40A and 40B, a support unit 43 that supports the transport units 40A and 40B so as to be freely movable in the Y direction, and positioning units 10A and 10B. The conveying device 4 also includes a retracting unit 7 and an extruding unit 8 . By providing the retracting unit 7 and the pushing unit 8, the conveying device 4 can transfer objects to be conveyed to and from the conveying device 2 that does not have the function of carrying in and out the pallets PL. If the transport device 2 has a loading/unloading function for the pallet PL, the transport device 4 may not have the retracting unit 7 and the pushing unit 8 .

The support unit 43 includes a base portion 44 and movable portions 45A and 45B. The base portion 44 is positioned between the transport device 2 and the transport device 3 and is a fixed frame that is installed in the factory, and is fixed adjacent to the transport device 3 . The base portion 44 has a frame 443 on which a pair of roller units 441 spaced apart in the X direction are mounted. Each roller unit 441 includes a row of rollers 442 arranged in the Y direction. Each roller 442 is a freely rotating roller that can freely rotate around an axis in the X direction. Each roller unit 441 also includes a guide portion 441a provided along a plurality of rollers 442 arranged in the Y direction. A locking member (not shown) is provided at each Y-direction end of each roller row of each roller unit 441 . As a result, movement in the Y direction of the movable portions 45A and 45B supported by each roller unit 441 is restricted, and falling from each roller unit 441 is prevented.

The movable parts 45A and 45B are mounted on a pair of roller units 441 and are freely movable in the Y direction by the free rotation of each roller 442 . The transport unit 40A is mounted on the movable portion 45A, and the transport unit 40B is mounted on the movable portion 45B. The transport unit 40A can move in the Y direction together with the movable part 45A independently of the transport unit 40B. Similarly, the transport unit 40B can move in the Y direction together with the movable part 45B independently of the transport unit 40A.

In this embodiment, the conveying unit 40 is configured to be freely movable in the Y direction by the rolling of the rollers 442. In addition to the rollers 442, ball casters, a table having a low-friction sliding surface, an air table, or the like may be used. , a structure in which the transport unit 40 is supported in a floating manner.

In the case of this embodiment, the movable portions 45A and 45B have the same configuration, and in the following description, the movable portion 45A or 45B may be referred to as the movable portion 45A or 45B without distinguishing between the two. The movable portion 45 includes a rectangular frame 46 and pillars 47 erected from four corners of the frame 46 . The frame 46 is placed on each roller 442 so as to straddle the pair of roller units 441 . Specifically, the frame 46 includes two support frame portions 46A spaced apart in the X direction and extending in the Y direction. Each support frame portion 46A is configured to have a length supported by at least two rollers 442 arranged in the Y direction. Each support frame portion 46A is restricted from moving in the X direction by guide portions 441a provided on the pair of roller units 441, respectively. The strut 47 is fixed to the transport unit 40 .

The engaging portions 6A and 6B are attached to a support bracket 444 fixed to the central portion of the base portion 44 . Specifically, the base portion 44 includes a support frame 443a that supports the support brackets 444,444. The support frame 443a includes supports that support the support brackets 444,444. Engagement portions 6A and 6B are used for alignment between transport device 3 and transport device 4. FIG. The height of the support bracket 444 and the attachment positions of the engaging portions 6A and 6B are adjusted so that the engaging portions 6A and 6B are at the same height as the positioning portion 13, which will be described later.

<Positioning unit>
The configuration of the positioning units 10A and 10B will be described with reference to FIGS. 5 and 6 in addition to FIGS. 1 to 4. FIG. FIG. 5 is a perspective view of the positioning unit 10A, and FIG. 6 is an operation explanatory diagram of the positioning unit 10A. In this embodiment, the positioning units 10A and 10B have the same configuration, and in the following description, the positioning unit 10A or 10B may be referred to as the positioning unit 10 without distinguishing between the two.

The positioning unit 10A is provided integrally with the transport unit 40A, and the transport unit 40A is floated in the Y direction following the positioning by the positioning unit 10A. The positioning unit 10B is provided integrally with the transport unit 40B, and the transport unit 40B is floated in the Y direction following the positioning by the positioning unit 10B. The positioning unit 10 is composed of a plate 11 and a unit main body 110 as another component. A unit main body 110 is provided on the bottom surface of the plate 11 , and the top surface of the plate 11 is fixed to the bottom surface of the transport unit 40 .

The unit body portion 110 has alignment portions 12 and 13 and an extension member 14 . The alignment portion 12 is provided at one end of the extension member 14 , and the alignment portion 13 is provided at the other end of the extension member 14 . The extension member 14 is a member that extends in the X direction, which is the direction in which the workpiece W is conveyed. and an actuator 16 . The two rods 14b extending in the X direction are provided in parallel and spaced apart in the Y direction. Alignment portions 12 and 13 are provided on each end plate 14a. That is, the alignment portions 12 and 13 are provided at both ends of the extended member 14 extending in the X direction.

Four guide members 15 are provided on the lower surface of the plate 11 . The guide members 15 are provided as a pair of left and right guide members 15 separated in the Y direction, each having a hole through which the rod 14b is inserted. This hole guides the movement (reciprocation) of the extension member 14 (rod 14b) in the X direction. An actuator 16 is provided on the bottom surface of the plate 11 . The actuator 16 of this embodiment is an electric cylinder, and a rod 16a is advanced and retracted in the X direction from the main body. The tip of the rod 16a is fixed to one of the two end plates 14a. As the actuator 16 is driven, the rod 16a advances and retreats in the X direction, so that the end plates 14a, that is, the positioning portions 12 and 13 advance and retreat in the X direction. That is, the positioning portion 12 advances and retreats with respect to the engaging portion 5 , and the positioning portion 13 advances and retreats with respect to the engaging portion 6 .

Brackets 17a, 17a are provided on the lower surface of the plate 11, and sensors 17A, 17B are supported by the respective brackets 17a. Dogs 18 are provided near both ends of one of the two rods 14b. The position of the dog 18 provided on the alignment portion 13 side is adjusted so that the sensor 17A detects when the alignment portion 12 and the engaging portion 5A are engaged with each other. Further, the position of the dog 18 provided on the positioning portion 12 side is adjusted to the rod 14b so that the sensor 17B detects when the positioning portion 13 and the engaging portion 6A are engaged with each other. The sensor 17A detects whether the alignment portion 12 is positioned at the engagement position with the engagement portion 5, and the sensor 17B detects whether the alignment portion 13 is positioned at the engagement position with the engagement portion 6. detect whether or not there is In this embodiment, the dog 18 does not come into contact with the guide member 15, but when the positioning portion 12 and the engaging portion 5 and the positioning portion 13 and the engaging portion 6 are engaged, the dog 18 contacts the guide member 15. You may adjust the attachment position of the dog 18 with respect to the rod 14b so that it may touch. As a result, it is possible to prevent the positioning portion 12 (or 13) from applying excessive pressing force to the engaging portion 5 (or 6).

The alignment portions 12 and 13 have tapered protrusions whose width in the Y direction changes in the X direction. In other words, the protrusion has a wedge shape. The engaging portions 5A and 5B with which the alignment portion 12 is engaged have V-shaped grooves that match the shape of the alignment portion 12. As shown in FIG. Therefore, when the positioning portion 12 and the engaging portion 5A or 5B are engaged with each other, even if the positioning (positioning) in the Y direction is loose and there is a positional deviation between the two, the positioning portion 12 is engaged. Floating alignment follows the groove surface when fitted into the joint portions 5A and 5B. Similarly, the engaging portions 6A, 6B with which the alignment portion 13 is engaged have V-shaped grooves that match the shape of the alignment portion 13. As shown in FIG. Therefore, when the positioning portion 13 and the engaging portion 6A or 6B are engaged with each other, even if the positioning (positioning) in the Y direction is loose and there is a positional deviation between the two, the positioning portion 13 is engaged. Floating alignment follows the groove surfaces when fitted into the joints 6A and 6B. In this embodiment, the positioning portions 12 and 13 are wedge-shaped protrusions, but they may be arch-shaped protrusions. Further, the groove shape of the engaging portions 5A, 5B (or 6A, 6B) is not particularly limited as long as the alignment portion 12 (or 13) can follow and fit.

When the positioning portion 12 (or 13) is fitted along the groove surfaces of the engaging portions 5A and 5B (or 6A and 6B), the positioning units 10A and 10B as a whole, and thus the transport units 40A and 40B as a whole, are Y-shaped. move slightly in the direction As a result, even if the positioning in the Y direction between the transporting devices 2 and 4 (or the transporting devices 3 and 4) is loose, the alignment portion 12 (or 13) is moved to the engaging portions 5A and 5B ( or 6A, 6B) for floating alignment and complete positioning in the Y direction of the transporting device 2 and the transporting device 4 (or the transporting device 3 and the transporting device 4).

As shown in FIG. 5, the Z-direction width H1 (the length of the V-shaped groove) of the engagement regions of the engagement portions 5A to 6B is the Z-direction width H2 of the engagement regions of the alignment portions 12 and 13. (H1>H2). By setting the engagement regions of the engagement portions 5A to 6B wider than the engagement regions of the alignment portions 12 and 13, the alignment portions 12 and 13 and the corresponding engagement portions 5A, 5B and 6A and 6B are aligned. Even if there is a shift in the Z direction, the engagement between the two can be performed more reliably. In other words, as long as the alignment portions 12 and 13 overlap the engagement regions (within the V-shaped grooves) of the engagement portions 5A to 6B, the two can be reliably engaged. .

In the case of this embodiment, the engaging portions 5A and 5B have the same configuration, and in the following description, the engaging portion 5A or 5B may be referred to as the engaging portion 5 without distinguishing between the two. The engaging portions 6A and 6B may also be referred to as the engaging portion 6 in some cases.

The operation of the positioning unit 10A will be described with reference to FIG. State ST1 shows a state in which the rod 16a of the actuator 16 is contracted, the alignment portion 12 is positioned at the engagement position, and is engaged with the engagement portion 5A. That the alignment portion 12 is positioned at the engagement position is confirmed by the sensor 17A in the figure detecting the dog 18 on the left side (engagement portion 6A side) in the figure. In the state ST1, the alignment portion 13 is separated from the engaging portion 6A and positioned at the retracted position.

State ST2 shows a state in which the rod 16a of the actuator 16 is in an extended state, the alignment portion 13 is positioned at the engagement position, and is engaged with the engagement portion 6A. That the positioning portion 13 is positioned at the engagement position is confirmed by the sensor 17B in the figure detecting the dog 18 on the right side of the figure (on the side of the engagement portion 5A). In the state ST2, the alignment portion 12 is separated from the engaging portion 5A and positioned at the retracted position. The operation of the positioning unit 10B with respect to the engaging portions 5B and 6B is the same.

As described above, in the positioning unit 10 of the present embodiment, the alignment portion 12 selectively engages with the engaging portion 5 or the alignment portion 13 selectively engages with the engaging portion 6 by expanding and contracting the rod 16a of the actuator 16. . By utilizing the expansion and contraction of the rod 16a of the actuator 16, selective engaging operation is possible with a relatively simple configuration. The position at which the positioning portion 12 and the engaging portion 5 are actually engaged varies depending on the stop position of the conveying device 2 . The position at which the alignment portion 13 and the engaging portion 6 are actually engaged basically does not change, and is determined by the position where the engaging portions 6A and 6B are provided. In the case of this embodiment, due to design and/or control reasons, the position of engagement between the alignment portion 12 and the engagement portion 5 in the X direction and the position of engagement between the alignment portion 13 and the engagement portion 6 in the X direction is set in the middle of the stroke of the actuator 16 (a position away from the stroke end).

For example, assume that the extension stroke of the actuator 16 is 0 to 100 mm. In this case, the engagement position between the positioning portion 12 and the engagement portion 5 for design or control purposes is, for example, 10 mm. Further, the engagement position between the alignment portion 13 and the engagement portion 6 is, for example, 90 mm.

In this embodiment, the sensors 17A and 17B are magnetic sensors that detect the dog 18, and their detection ranges have a constant width in the X direction. Assuming that the detection range is 5 mm, when the movement stop of the dog 18 is detected by the sensor 17A in FIG. (normal engagement). In other words, the sensor 17A detects the amount of movement of the positioning portion 12 from the retracted position in the state ST2 to the engaging position where it engages with the engaging portion 5 .

Similarly, when the movement stop of the dog 18 is detected by the sensor 17B, it is assumed that the positioning portion 13 and the engaging portion 6 engage with each other while the extension stroke of the actuator 16 is in the range of 87.5 to 92.5 mm. (normal engagement). Conversely, when the engagement between the alignment portion 12 and the engagement portion 5 and the engagement between the alignment portion 13 and the engagement portion 6 are not properly engaged, the sensors 17A and 17B do not detect. (engagement failure). In other words, the sensor 17B also detects the amount of movement of the positioning portion 13 from the retracted position in the state ST1 to the engaging position where it engages with the engaging portion 6 .

In this embodiment, the attachment position of the dog 18 in the longitudinal direction (X direction) of the rod 14b can be changed, and the alignment portion 12 (or 13) engages with the engaging portions 5A, 5B (or 6A, 6B). It can be arbitrarily set according to the position.

<Retraction unit>
The retracting unit 7 will be described with reference to FIGS. 7 and 8 in addition to FIGS. 7 and 8 are explanatory diagrams of the operation of the retracting unit 7. FIG. The drawing unit 7 is a device that takes in the pallet PL from the transport device 2 to the transport device 4 . The retracting unit 7 is supported on the side of the transport unit 40A and includes a drive unit 74 extending in the X direction, and a slider 73 capable of reciprocating in the X direction by being driven and guided by the drive unit 74 . The drive unit 74 has a mechanism for moving the slider 73 in the X direction, and the mechanism is, for example, a ball screw mechanism or a belt transmission mechanism using a motor as a drive source.

The slider 73 is provided with an arm 71 rotatable around an axis 72 in the Z direction. As shown in the state ST3 of FIG. 7, the arm 71 is rotatable within a predetermined angle range (for example, 60 degrees to 90 degrees) in the direction of the arrow D4, with the longitudinal direction of the arm 71 oriented in the Y direction as the initial position. On the other hand, it cannot be rotated in the direction opposite to the arrow D4 direction from the initial position. Further, the slider 73 is provided with a spring (not shown) that biases the arm 71 in the D5 direction, and the bias of this spring maintains the arm 71 at the initial position.

The drawing operation of the pallet TL will be described with reference to FIGS. 7 and 8. FIG. State ST3 shows a state in which the pallet PL on which the work W is mounted is placed on the transport unit 20A. When the slider 73 is moved to the right side of the figure, the arm 71 interferes with the pin P of the pallet PL. Since the arm 71 is rotatable in the direction of the arrow D4, the arm 71 rotates without hindering the movement of the slider 73 even though it interferes with the pin P as shown in state ST4. The slider 73 is moved to a position where the arm 71 passes the pin P as shown in state ST5. The arm 71 returns to the initial position by the biasing force of a spring (not shown).

As shown in state ST6, when the slider 73 is moved to the left in the figure, the arm 71 engages with the pin P of the pallet PL, and the pallet PL is pulled onto the transport unit 40A following the movement of the slider 73. FIG. By continuing the movement of the slider 73 while the transport unit 40A is being driven, the pallet PL is transferred onto the transport unit 40A as shown in state ST8.

<Extrusion unit>
The extrusion unit 8 will be described with reference to FIGS. 9 and 10 in addition to FIGS. 9 and 10 are explanatory diagrams of the operation of the extrusion unit 8. FIG. The pushing unit 8 is a device for pushing out the pallet PL from the conveying device 4 to the conveying device 2 . The extrusion unit 8 is supported on the side of the transport unit 40B and includes a drive unit 84 extending in the X direction and a slider 83 capable of reciprocating in the X direction by being driven and guided by the drive unit 84 . The drive unit 84 has a mechanism for moving the slider 83 in the X direction, and the mechanism is, for example, a ball screw mechanism or a belt transmission mechanism using a motor as a drive source.

The slider 83 is provided with an arm 81 rotatable around an axis 82 in the Z direction. As shown in the state ST8 of FIG. 9, the arm 81 is rotatable within a predetermined angle range (for example, 60 degrees to 90 degrees) in the direction of the arrow D7, with the longitudinal direction of the arm 81 oriented in the Y direction as the initial position. On the other hand, it cannot rotate from the initial position in the direction opposite to the arrow D7 direction. Further, the slider 83 is provided with a spring (not shown) that biases the arm 81 in the D6 direction, and the bias of this spring maintains the arm 81 at the initial position.

The drawing operation of the pallet TL will be described with reference to FIGS. 9 and 10. FIG. A state ST8 shows a state in which the pallet PL on which the work W is mounted is placed on the transport unit 40B. When the slider 83 is moved to the left side of the figure, the arm 81 interferes with the pin P of the pallet PL. Since the arm 81 is rotatable in the direction of the arrow D7, the arm 81 rotates without hindering the movement of the slider 83 even though it interferes with the pin P as shown in states ST9 and ST10. The slider 83 is moved to a position where the arm 81 passes the pin P as shown in state ST11. The arm 81 returns to the initial position by the biasing force of a spring (not shown).

As shown in state ST12, when the transport unit 40B is driven and the slider 83 is moved to the right in FIG. It is pushed out onto the transport unit 20B. After that, as shown in state ST13, the pallet PL is transferred onto the transport unit 20B.

<Control device>
FIG. 11 is a block diagram of the control device 100 of the conveying device 4. As shown in FIG. The control device 100 includes a processing unit 101, a storage unit 102, and an interface unit 103, which are interconnected by a bus (not shown). The processing unit 101 executes programs stored in the storage unit 102 . The processing unit 101 is, for example, a CPU. The storage unit 102 is, for example, a RAM, a ROM, a hard disk, or the like. The interface unit 103 is provided between the processing unit 101 and external devices (host computer 200, sensors, actuators), and is, for example, a communication interface or an I/O interface.

The control device 100 controls the actuator 16, the transport units 40A and 40B, the retracting unit 7, and the pushing unit 8 according to instructions from the host computer 200. FIG. Further, detection results of the sensors 17A and 17B are input to the control device 100 . The actuator 16 includes a motor 16b as a drive source and a sensor 16c such as a rotary encoder that detects the amount of rotation of the motor 16b. When the detection result of the sensor 16c stops changing (when rotation is no longer detected) while the motor 16b is being driven, it can be considered that the movement of the positioning unit 12 or 13 has stopped. Stopping movement of the alignment portion 12 or 13 will occur when the alignment portion 12 or 13 engages the corresponding engagement portion 5 or 6 .

<Example of alignment operation>
An example of control of the positioning unit 10A by the control device 100 and an example of the behavior of the transport unit 20A at that time will be described with reference to FIGS. 12 to 14. FIG. 12 to 14 are explanatory diagrams of the alignment operation of the conveying device 4. FIG.

State ST21 indicates a state of waiting for the arrival of the conveying device 2 . The positioning unit 10A is in a state in which the alignment portion 13 and the engagement portion 6A are engaged, and the transport unit 40A is in a state aligned in the Y direction with respect to the transport unit 30A. A state ST22 indicates a state in which the transport device 2 reaches a position where the pallet PL is transferred to the transport device 4 (for convenience of explanation, the pallet PL and the work W are not shown; the same applies hereinafter). In the state ST22, the positional deviation in the Y direction between the transport unit 20A and the transport unit 40A is the deviation amount E1. Therefore, the pallet PL cannot be transferred from the transport device 2 to the transport device 4 as it is. Therefore, it is necessary to align the transport unit 20A and the transport unit 40A.

Therefore, when the transport device 2 reaches the position of state ST22, the host computer 200 instructs the control device 100 to transfer the pallet PL, and the control device 100 starts controlling the transport device 4. FIG. First, the positioning operation is performed by the positioning unit 10A. A state ST23 indicates a state in which the actuator 16 is driven and the rod 16a starts contracting. Due to this contraction of the rod 16a, the positioning portion 12 advances toward the engaging portion 5A.

The positional deviation amount E1 in the Y direction between the positioning portion 12 and the engaging portion 5A is such that when the positioning portion 12 starts to engage with the engaging portion 5A, the engaging portion 5A guides the positioning portion 12. The action aligns the positioning unit 10A in the Y direction. As a result, the transport device 40A is floated in the Y direction. State ST24 indicates a state in which engagement between the alignment portion 12 and the engaging portion 5A is completed. As shown in state ST24, when the positioning portion 12 and the engagement portion 5A are completely engaged, the transport unit 40A is aligned in the Y direction with respect to the transport unit 20A. Conversely, the transport unit 40A is displaced from the transport unit 30A in the Y direction by a displacement amount E1. After that, the drawing unit 7 is driven, the pallet PL is drawn from the transport unit 20A to the transport unit 40A, and the transfer of the pallet PL from the transport device 2 to the transport device 4 is completed.

Next, the operation for transferring the pallet PL from the transport device 40A to the transport device 30A will be described. In the state ST24, the displacement of the transport unit 40A in the Y direction with respect to the transport unit 30A is the deviation amount E1. Therefore, the pallet PL cannot be transferred from the transport device 4 to the transport device 3 as it is. Therefore, it is necessary to align the transport unit 30A and the transport unit 40A. The host computer 200 instructs the control device 100 to transfer the pallet PL, and the control device 100 starts controlling the transport device 4 . First, the positioning operation is performed by the positioning unit 10A. A state ST25 indicates a state in which the actuator 16 is driven and the rod 16a has started to extend. This extension of the rod 16a advances the positioning portion 13 toward the engaging portion 6A.

The amount of misalignment in the Y direction between the alignment portion 13 and the engagement portion 6A is E1. The action aligns the positioning unit 10A in the Y direction. As a result, the transport device 40A is floated in the Y direction. State ST26 indicates a state in which engagement between the alignment portion 13 and the engaging portion 6A is completed. As shown in state ST26, when the positioning portion 13 and the engagement portion 6A are completely engaged, the transport unit 40A is aligned in the Y direction with respect to the transport unit 30A. Thereafter, the transport unit 40A and the transport unit 30A are driven to transfer the pallet PL from the transport unit 40A to the transport unit 30A.

After that, the alignment operation by the positioning unit 10A is selectively performed according to the combination of the devices that transfer the pallet PL (the transport unit 20A and the transport unit 40A or the transport unit 40A and the transport unit 30A). As a result, the position of the transport unit 40A in the Y direction can be aligned with the position of either the transport unit 20A or the transport unit 30A. Although the transport units 20A to 40A have been described with reference to FIGS. 12 to 14, the same applies to the transport units 20B to 40B, the engaging portions 5B and 6B, and the like.

As described above, in the present embodiment, the transport unit 40 is configured to be freely movable in the Y direction, and only by positioning (fitting) the positioning unit 10 with respect to the engaging portion 5 (or 6), the transport unit 40 can be moved. By floating movement, the transport device 4 can be selectively aligned with the transport source or transport destination. That is, even if the positioning and alignment of the transport device 2 with respect to the transport device 3 are loose (not accurate), the transport unit 40 of the transport device 4 can be moved by simply fitting the positioning unit 10 into the engaging portion 5. It floats following the position of the conveying device 2, and complete alignment is achieved. As a result, the pallet PL can be reliably transferred (transported) to the transport device 4 from the transport device 2 that has not been accurately aligned. At this point, the positioning and alignment of the transporting device 4 with respect to the transporting device 3 are loose (not accurate). The unit 40 floats following the position of the transport device 3, and perfect alignment is achieved. As a result, the pallet PL can be reliably transferred from the transport device 4 to the transport device 3 .

Further, the positioning of the conveying devices 2, 4 and 3, 4 in this embodiment is based on physical engagement between the positioning portion 12 (or 13) and the engaging portion 5 (or 6), and detection This is a simpler method than alignment by control of a device or arithmetic device.

Furthermore, when performing alignment in this embodiment, only the transport unit 40 that is freely movably supported is moved. becomes smaller and lighter. Therefore, even if the conveying device 2 is large and heavy, the force required for alignment is small, and the actuator 16 does not need to be large enough to exert a large driving force. In addition, since the actuator 16 provided in the conveying device 4 expands and contracts only the unit main body 110 in the conveying direction, the weight of the entire conveying device 4 is irrelevant and is sufficient to drive the unit main body 110 . It is enough if there is enough driving force. That is, in the present embodiment, the actuator 16 necessary for positioning the conveying devices 2, 4 and 3, 4 can be a general-purpose, inexpensive actuator with a small driving force.

<Confirmation of engagement state>
An example of confirmation of engagement between the alignment portion 12 (or 13) and the engaging portion 5 (or 6) will be described. In the case of this embodiment, it is assumed that the positioning portion 12 (or 13) and the engaging portion 5 (or 6) are engaged when the rotation of the motor 16b is no longer detected by the sensor 16c while the actuator 16 is being driven. , the engagement position is confirmed by the detection result of the sensor 17A (or 17B).

If engagement is detected by the detection result of the sensor 16c before the sensor 17A (or 17B) detects the dog 18, the engagement occurs before the original engagement position, and the engagement area is It can be determined that there is a misalignment in the Y direction and that there is no engagement, or that an abnormality such as a foreign object being caught has occurred.

After the sensor 17A (or 17B) detects the dog 18, the sensor 17A (or 17B) does not detect the dog 18, and when the engagement is detected by the detection result of the sensor 16c, the engagement position is shifted from the original engagement position. It can be determined that the engagement occurs at a distance and that an abnormality has occurred such that the distance in the X direction between the transport units is too large. In this case, the alignment in the Y direction between the transport units is normal, but the pallet PL may drop out of the transport path during transfer, so it is regarded as abnormal.

FIG. 15 is a flowchart showing an example of processing executed by the control device 100, showing an example of processing when the positioning unit 10 is driven. In S1, the actuator 16 (motor 16b) is driven to start moving the alignment portion 12 (or 13) with respect to the engaging portion 5 (or 6). In S2, the detection result of the sensor 17A (or 17B) is acquired, and it is determined whether or not the positioning portion 12 (or 13) has reached the engagement position. If it is determined that the alignment portion 12 (or 13) has reached the engagement position, the process proceeds to S3.

In S3, it is determined whether or not the detection result of the sensor 16c is acquired and the rotation of the motor 16b is no longer detected. If the rotation is no longer detected, it is assumed that the positioning portion 12 (or 13) is normally engaged with the engaging portion 5 (or 6), and the process proceeds to S4 to terminate the driving of the actuator 16 (motor 16b). Subsequently, the process proceeds to S5 to start transporting (transferring) the pallet PL between transport units.

If rotation of the motor 16b is detected in S3, the process proceeds to S6. In S6, the detection result of the sensor 17A (or 17B) is obtained, and it is determined whether or not the positioning portion 12 (or 13) has exceeded the engagement position (whether the dog 18 is no longer detected). If it is determined that the engagement position is not exceeded, the process returns to S3. If it is determined that the engagement position has been exceeded, the process proceeds to S7, and error processing is performed.

In the error processing of S7, the driving of the actuator 16 (motor 16b) is terminated, and the host computer 200 is notified of the occurrence of the error. When the error processing of S7 is reached, it corresponds to the case where the engagement occurs farther than the original engagement position. If this abnormality occurs during the positioning operation of the transport unit 20 and the transport unit 40, it is considered that the stop position of the transport device 2 is too far from the transport device 4, so the transport device 2 is moved and again. A positioning operation may be performed.

If it is determined in S2 that the positioning portion 12 (or 13) has not reached the engagement position, the process proceeds to S8. In S8, it is determined whether the detection result of the sensor 16c is acquired and the rotation of the motor 16b is no longer detected. If rotation is detected, the process returns to S2. If it is determined that the rotation is not detected, the process proceeds to S9, and error processing is performed.

In the error processing of S9, the driving of the actuator 16 (motor 16b) is terminated, and the host computer 200 is notified of the occurrence of the error. When the error processing of S9 is reached, it corresponds to the case where the engagement occurs before the original engagement position. If this abnormality occurs during the alignment operation between the transport unit 20 and the transport unit 40, the stop position of the transport unit 2 is considered to be largely deviated in the Y direction from the transport unit 4. Therefore, the transport unit 2 may be moved to perform the positioning operation again.

<Second embodiment>
In the first embodiment, the alignment portions 12 and 13 are tapered convex portions, and the engaging portions 5 and 6 are V-shaped grooves that match the shape of the alignment portions 12 and 13. The shape is not limited to this. For example, as shown in the example of FIG. 16: EX1, the shape of the engaging portion 5 may be a tapered convex portion, and the shape of the alignment portion 12 may be a V-shaped groove. The same applies to the engaging portion 6 and the alignment portion 13 .

Further, for example, as shown in the example of FIG. 16: EX2, the alignment portion 12 is configured by a pair of wedge-shaped members, and the shape of the engaging portion 5 is a rectangular concave portion in which the alignment portion 12 is not completely fitted. good too. The same applies to the engaging portion 6 and the alignment portion 13 . As described above, various shapes can be selected for the positioning portions 12 and 13 and the engaging portions 5 and 6 .

<Third embodiment>
In the first embodiment, each of the transport devices 2 to 4 has two pairs of transport units 20 to 40, but may have one transport unit 20 to 40, respectively. FIG. 17 is a layout diagram of the transport system 1 showing an example thereof. In the illustrated example, the transport device 2 comprises one transport unit 20 . The transport device 3 includes one transport unit 30 . The transport device 4 includes one transport unit 40 , one positioning unit 10 and one movable part 45 . The conveying direction of the pallet PL (workpiece W) may be D1 or may be opposite to D1.

<Fourth embodiment>
In the first embodiment, the engaging portion 6 is supported by the base portion 44 of the conveying device 4 , but the engaging portion 6 may be supported by the conveying device 3 . FIG. 18 is a layout diagram of the transport system 1 showing an example thereof. In the illustrated example, the conveying device 3 is provided with an engaging portion 6 . A state ST27 shows a state in which the positioning unit 10 (the plate 11 is omitted) engages the positioning portion 12 and the engaging portion 5 . As a result, the transport unit 40 and the transport unit 20 are aligned in the Y direction.

State ST28 shows a state in which the alignment portion 13 and the engaging portion 6 are engaged by the 11 positioning unit 10 (the plate 11 is omitted). As a result, the transport unit 40 and the transport unit 30 are aligned in the Y direction.

In the example of FIG. 18, each of the transport devices 2 to 4 is configured to have one transport unit 20 to 40, but may be configured to have two or three or more sets as in the first embodiment.

<Fifth Embodiment>
In the first embodiment, regarding the configuration of the support unit 43, the movable portion 45 is mounted on the base portion 44, but a member that restricts the upward movement of the movable portion 45 may be provided. FIG. 19 is a side view of the support unit 43 showing an example thereof. A regulating member 445 is provided on the upper portion of the roller unit 441 (the guide portion 441a). The restricting member 445 is a member that protrudes toward the frame 46 above the frame 46 of the movable portion 45 . When the movable portion 45 is about to be displaced upward, the regulating member 445 and the frame 46 of the movable portion 45 interfere with each other, thereby preventing the upward displacement of the movable portion 45 . For example, when the pallet PL (workpiece W) is transferred, it is possible to prevent one side of the movable portion 45 in the X direction from being lifted due to an uneven load distribution in the X direction with respect to the transport unit 40 .

In the example of FIG. 19, a roller 46a is provided on the side of the frame 46. As shown in FIG. The roller 46a is rotatable around an axis in the Z direction, and contacts the side surface (guide portion 441a) of the roller unit 441 to make the movement of the movable portion 45 in the Y direction smoother.

In the first embodiment, the roller unit 441 is provided on the side of the base portion 44, and the movable portion 45 is placed there. The movable portion 45 may be configured to be freely movable in the Y direction by providing a rolling surface of a rolling element in the base portion 44 .

<Sixth Embodiment>
In the first embodiment, the transport unit 40 was freely movable in the Y direction, but it may also be freely swingable around the axis in the Z direction. FIG. 20 is a side view of the support unit 43 and the transport unit 40 of this embodiment, and FIG. 21 is a plan view.

The movable portion 45 of this embodiment is a plate-like member. As in the first embodiment, the movable portion 45 is mounted on each roller unit 441 of the base portion 44 and is freely movable in the Y direction. A shaft 461 extending in the Z direction is provided at the central portion of the movable portion 45 in the X and Y directions. The conveying unit 40 has a frame 403 that connects the roller units 41, 41 spaced apart in the Y direction. That is, the frame 403 (conveyance unit 40) is rotatable (floating) with respect to the shaft 461 about the X-axis, the Y-axis, and the Z-axis. In other words, frame 403 is capable of rolling, pitching and yaw motion about axis 461 . As a mechanism for rotating about the X axis, Y axis and Z axis, a conventional three-axis rotation mechanism such as a gimbal mechanism can be used. With the above configuration, the transport unit 40 can move freely in the Y direction and can swing freely around the central axis Z1 of the shaft 461 .

According to the present embodiment, it is possible to absorb not only the deviation in the Y direction between the transport unit 40 and the transport unit 20 or the transport unit 30, but also the deviation in attitude around the axis in the Z direction. That is, by engaging the positioning portion 12 (or 13) and the engaging portion 5 (or 6) of the positioning unit 10, the transport unit 40 floats in the Y direction and performs rolling, pitching, and yawing motions. Therefore, all positional deviations between the transport devices 2 and 4 or between the transport devices 3 and 4 can be eliminated. For example, when the conveying device 2 reaches the conveying device 4 in an oblique posture, the engagement between the positioning portion 12 of the positioning unit 10 and the engaging portion 5 causes the conveying unit 40 to move as shown in state ST32. oscillates. As a result, the transport unit 20 and the transport unit 40 are aligned so that their transport paths are aligned on the same line.

<Seventh Embodiment>
In the first embodiment, the carrier device 2 is a self-propelled carrier device, and the carrier device 3 is a stationary carrier device, but the present invention is not limited to this. Both the transport device 2 and the transport device 3 may be self-propelled transport devices. In this case, the engaging portion 5 is provided in the conveying device 2 and the engaging portion 6 is provided in the conveying device 3 .

Also, both the transport device 2 and the transport device 3 may be fixed transport devices. In this case, since the positioning unit 10 can align the transport units when transporting the work, when the transport devices 2 to 4 are installed in the factory, the alignment accuracy between the devices may be low (alignment is possible). If it is within a certain range, it may be installed roughly).

Further, in the first embodiment, the drawing unit 7 is provided to draw the pallet PL (work W) from the conveying device 2 to the conveying device 4, but the pallet PL (work W) is drawn from the conveying device 3 to the conveying device 4 A retraction unit 7 may be provided for this purpose. Similarly, in the first embodiment, the extrusion unit 8 is provided to push out the pallet PL (work W) from the transport device 4 to the transport device 2, but the pallet PL (work W) is pushed from the transport device 4 to the transport device 3. An extrusion unit 8 may be provided for extrusion.

Although the embodiments of the invention have been described above, the invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention.

Claims (17)

A conveying device positioned between a first device and a second device and conveying an object to be conveyed in a predetermined conveying direction,
a base provided between the first device and the second device;
a conveying means for conveying the object to be conveyed;
a movable portion provided between the base portion and the conveying means for allowing the conveying means to move in a direction intersecting the conveying direction;
positioning means provided in the transport means for positioning the transport means in a direction intersecting the transport direction;
The positioning means are
a first alignment portion that engages with a first engagement portion included in the first device and performs alignment between the transport direction of the first device and the transport direction of the transport means;
A second position that engages with a second engaging portion that is provided corresponding to the position of the second device and aligns the conveying direction of the second device with the conveying direction of the conveying means. a mating portion;
A conveying device characterized by: The conveying device according to claim 1,
The movable part further allows the conveying means to swing,
A conveying device characterized by: The conveying device according to claim 1 or claim 2,
The positioning means are
Driving means for advancing and retreating the first alignment part with respect to the first device and for advancing and retracting the second alignment part with respect to the second device,
A conveying device characterized by: The conveying device according to claim 1 or claim 2,
The positioning means are
an extension member extending in the conveying direction;
a first alignment portion provided at one end of the extension member and engaged with the first engagement portion;
a second alignment portion provided at the other end of the extension member and engaged with the second engagement portion;
an actuator that reciprocates the extension member in the conveying direction;
A conveying device characterized by: A conveying device according to claim 4,
The positioning means are
a plate supporting the actuator;
a guide member provided on the plate for guiding reciprocation of the extension member;
The positioning means is fixed to the conveying means via the plate,
A conveying device characterized by: The conveying device according to any one of claims 1 to 5,
The second engaging portion is provided on the base portion,
A conveying device characterized by: A conveying device according to claim 3,
a first detection means for detecting the amount of movement of the first alignment portion from the retracted position to the engagement position where it engages with the first engagement portion;
a second detection means for detecting the amount of movement of the second alignment portion from the retracted position to the engagement position where it engages with the second engagement portion;
A conveying device characterized by: A conveying device according to claim 3,
detection means for detecting a movement amount of the first alignment portion moving from a retracted position to an engaging position where the first engaging portion engages;
determining means for determining whether or not to start transporting the object to be transported from the first device to the transporting device based on the detection result of the detecting means;
A conveying device characterized by: A conveying device according to claim 3,
detection means for detecting a movement amount of the second alignment portion from the retracted position to the engagement position where the second engagement portion engages;
determination means for determining whether or not to start transporting the object to be transported from the transport device to the second device based on the detection result of the detection means;
A conveying device characterized by: A conveying device according to claim 4,
detection means for detecting the amount of movement of the extension member;
Based on the detection result of the detection means,
determining whether or not to start transporting the object to be transported from the first device to the transport device when the first alignment portion is engaged with the first engagement portion;
Determination for determining whether or not to start transporting the object to be transported from the transport device to the second device when the second alignment portion is engaged with the second engagement portion comprising means and
A conveying device characterized by: The conveying device according to any one of claims 1 to 10,
The conveying means includes drawing means for drawing the object to be conveyed from the first device into the conveying means,
A conveying device characterized by: The conveying device according to any one of claims 1 to 11,
The first alignment portion and the second alignment portion each have a tapered protrusion,
A conveying device characterized by: The conveying device according to any one of claims 1 to 11,
The first alignment portion and the second alignment portion have a concavity with a flared shape,
A conveying device characterized by: The conveying device according to any one of claims 1 to 13,
the width of the engagement region of the first engagement portion is wider than the width of the engagement region of the first alignment portion;
A conveying device characterized by: a first device;
a second device;
a conveying device that is positioned between the first device and the second device and that conveys an object to be conveyed in a predetermined conveying direction,
The conveying device is
a base provided between the first device and the second device;
a conveying means for conveying the object to be conveyed;
a movable portion provided between the base portion and the conveying means for allowing the conveying means to move in a direction intersecting the conveying direction;
positioning means provided in the transport means for positioning the transport means in a direction intersecting the transport direction;
The positioning means are
a first alignment portion that engages with a first engagement portion included in the first device and performs alignment between the transport direction of the first device and the transport direction of the transport means;
A second position that engages with a second engaging portion that is provided corresponding to the position of the second device and aligns the conveying direction of the second device with the conveying direction of the conveying means. a mating portion;
A transport system characterized by: a second device spaced from the first device;
a conveying device that is positioned between the first device and the second device and that conveys an object to be conveyed in a predetermined conveying direction,
The conveying device is
a base provided between the first device and the second device;
a conveying means for conveying the object to be conveyed;
a movable portion provided between the base portion and the conveying means for allowing the conveying means to move in a direction intersecting the conveying direction;
positioning means provided in the transport means for positioning the transport means in a direction intersecting the transport direction;
The positioning means are
a first alignment portion that engages with a first engagement portion included in the first device and performs alignment between the transport direction of the first device and the transport direction of the transport means;
A second position that engages with a second engaging portion that is provided corresponding to the position of the second device and aligns the conveying direction of the second device with the conveying direction of the conveying means. a mating portion;
A transport system characterized by: A transport system according to claim 15 or claim 16 ,
the first device is a mobile device,
wherein the second device is a fixed position device;
the base is fixed in position adjacent to the second device;
A transport system characterized by:

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