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WO2018038171A1 - Dispositif transport et unité de transport - Google Patents

Dispositif transport et unité de transport Download PDF

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Publication number
WO2018038171A1
WO2018038171A1 PCT/JP2017/030169 JP2017030169W WO2018038171A1 WO 2018038171 A1 WO2018038171 A1 WO 2018038171A1 JP 2017030169 W JP2017030169 W JP 2017030169W WO 2018038171 A1 WO2018038171 A1 WO 2018038171A1
Authority
WO
WIPO (PCT)
Prior art keywords
conveyor
conveyor unit
unit
article
units
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/030169
Other languages
English (en)
Japanese (ja)
Inventor
伊東　一夫
橘　俊之
明 高永
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Itoh Denki Co Ltd
Original Assignee
Itoh Denki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Itoh Denki Co Ltd filed Critical Itoh Denki Co Ltd
Priority to JP2018535743A priority Critical patent/JP6923217B2/ja
Publication of WO2018038171A1 publication Critical patent/WO2018038171A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
    • B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for

Definitions

  • the present invention relates to a conveyor device for conveying an article to a predetermined position. Moreover, this invention relates to the conveyor unit which comprises a conveyor apparatus.
  • a conveyor device is installed in a delivery place, a pickup place, a warehouse, or the like.
  • a distributed control type conveyor apparatus in which a series of conveyor apparatuses are configured by a number of zones is known (Patent Document 1).
  • the conveyor device disclosed in Patent Document 1 is divided into a plurality of zones, each zone is provided with a zone controller, and the motors in each zone are controlled by the respective zone controllers.
  • a distributed control type conveyor apparatus including a zone having a branching function is also known (Patent Document 2).
  • the conveyor device is often fixed to the floor of a factory. Although the conveyor device is a structure, once it is installed, it is difficult to change the layout or the like. On the other hand, in the market, there is a demand for a conveyor device whose layout can be easily changed.
  • This invention develops the conveyor apparatus which can respond to the above-mentioned request
  • a conveyor apparatus for conveying an article has a plurality of conveyor units, and the conveyor unit moves the article, changes the attitude of the article, processes the article, measures the article, and measures the article. It has a function unit that executes at least one of the confirmation of the above, and the conveyor unit itself can be moved, and the conveyor unit moves in response to a predetermined signal and moves to the vicinity of another conveyor unit or another transport device.
  • the conveyor apparatus is characterized by constructing a desired transfer line.
  • the conveyor device of this aspect has a plurality of conveyor units.
  • the conveyor unit includes a functional unit that executes at least one of movement, posture change, processing, measurement, and confirmation of an article.
  • examples of the functional unit that moves the article include those that linearly move the article, those that change the direction, those that constitute the branching and collecting parts, and those that move in the vertical direction.
  • a functional unit that changes the posture of an article there is one that changes the vertical and horizontal postures of the article.
  • a functional unit that processes an article one that performs heating, disinfection, packaging, heat treatment, and the like can be considered.
  • As a functional unit for measuring an article one that performs full length measurement, weight measurement, and the like can be considered.
  • the conveyor unit preferably constitutes one zone of the conveyor apparatus disclosed in Patent Documents 1 and 2.
  • the conveyor unit preferably includes an individual control device corresponding to a zone controller, and preferably stores a program for operating each zone in each individual control device.
  • the conveyor unit of this aspect can move to arbitrary positions.
  • the means for moving the conveyor unit may be included in the conveyor unit itself, or may be connected to other objects to be pulled or pushed.
  • the conveyor apparatus of this aspect transmits a signal from a general control apparatus, for example, and moves according to the signal. And it moves to the vicinity of another conveyor unit, and a desired conveyance line can be constructed
  • the signal may be a wireless signal or a wired signal.
  • the conveyance line may be constructed in accordance with the layout drawn by the CAD device in conjunction with the CAD device. For example, a specific number, address, IP address or the like is assigned to each conveyor unit, a layout of a transfer line is created by a CAD device or the like, and a number of a conveyor unit having a corresponding function is attached to the layout. And you may make each conveyor unit run toward the position of the number attached
  • the functional unit moves or changes the posture of the article on the conveyor unit, has a self-moving means for moving the conveyor unit itself, and the self-moving means of the conveyor unit functions according to a predetermined signal. Then, it is desirable to move to the vicinity of another conveyor unit to construct a desired transfer line.
  • the conveyor unit according to this aspect includes self-moving means and can move to an arbitrary position.
  • the conveyor unit may be moved by other moving means.
  • the conveyor unit may have an idling wheel and may be connected to other moving means to move the conveyor unit.
  • the conveyor unit may be lifted under the conveyor unit and moved in that state.
  • the conveyor unit may be held and lifted from the upper side or the side surface, and the conveyor unit may be moved in that state. According to this aspect, the number of parts of the conveyor unit itself can be reduced.
  • the aspect of the conveyor unit includes a functional unit that executes at least one of movement of an article, change of an attitude of an article, processing of an article, measurement of an article, and confirmation of an article in a conveyor unit that is connected to form a series of conveyance lines
  • a signal is transmitted from a general control device, and the conveyor unit is moved according to the signal.
  • a desired conveyance line can be constructed
  • the article can be moved to a desired position by causing the conveyor unit to self-run with the article mounted on the conveyor unit.
  • a desirable aspect of the conveyor apparatus is a distributed control type conveyor apparatus constituted by a plurality of conveyance zones, and the conveyor unit constitutes one conveyance zone.
  • a desirable mode of the conveyor unit has communication means between adjacent units, and communication is performed between adjacent conveyor units by the communication means between adjacent units.
  • the conveyor unit has an individual control device in which a program for operating its own transport zone is stored.
  • Unit identification information for identifying the conveyor unit is given to the conveyor unit, and it is possible to create a transfer line layout by an external device and attach the unit identification information to the layout. It is desirable that each conveyor unit can be moved toward the position of the unit specifying information.
  • the conveyor unit has electrical coupling means, and the conveyor unit moves to the vicinity of other conveyor units and is automatically coupled by the electrical coupling means.
  • the conveyor unit has mechanical coupling means, and the conveyor unit moves to the vicinity of other conveyor units and is automatically coupled by the mechanical coupling means.
  • the conveyor unit has a height adjusting function, and the conveyor unit can move to the vicinity of another conveyor unit to automatically adjust the height between adjacent conveyor units.
  • the conveyor unit has a positioning system function.
  • the conveyor device has a traveling path securing function that secures the traveling path of the material hand machine by moving the conveyor unit when the material hand machine is in close proximity and dividing the transfer line.
  • the conveyor device has a travel route search function, searches for a route for moving from its current position to the target position, and the conveyor unit preferably moves along the route.
  • the conveyor unit has position correcting means, and when the conveyor unit moves and approaches the stop-side conveyor unit to be connected, the moving-side conveyor unit approaches the stop-side conveyor unit while correcting the position. It is desirable to go.
  • the conveyor unit prefferably be able to automatically change at least one of its posture and orientation so that it can perform its function.
  • the conveyor device has a three-dimensional structure having transport lines above and below, and preferably includes a conveyor unit that constructs an upper transport line.
  • the conveyor device of the present invention can easily change the layout.
  • the layout of the conveyor apparatus constructed by the conveyor unit of the present invention can be easily changed.
  • FIG. 1 It is a perspective view which shows an example of the conveyor unit of this invention. It is a perspective view which shows another example of the conveyor unit of this invention. It is a perspective view of the conveyor apparatus of this invention.
  • (A) is a CAD screen according to the embodiment of the present invention, and (b) is a model diagram displayed on the screen. It is a top view of a delivery field, (a) shows the state before constructing a conveyor device, and (b) shows the state during construction of the conveyor device. It is a top view of a delivery place, (c) shows the state after constructing a conveyor device, (d) shows the state after changing the layout of the conveyor device.
  • the conveyor apparatus 100 includes a plurality of conveyor units 1, an overall control apparatus 101, and a position reference apparatus 102. As shown in FIGS. 3 and 6, the main body portion of the conveyor apparatus 100 has a large number of conveyor units 1 connected to each other. In the conveyor apparatus 100 of the present embodiment, a large number of conveyor units 1 are connected to form a conveyance line.
  • each conveyor unit 1 has a function unit 2 that moves or changes the attitude of articles on the conveyor unit 1, self-moving means 10 that moves the conveyor unit 1 itself, an individual control device 30, and a connector 31. It is.
  • the connector 31 is an example of an electrical coupling unit that electrically connects adjacent conveyor units 1.
  • Each conveyor unit 1 has a carriage unit 51, and the functional unit 2 described above is mounted on the carriage unit 51.
  • Each carriage 51 is provided with the above-described self-moving means 10, the individual control device 30 and the connector 31.
  • Each truck unit 51 has a built-in storage battery 66.
  • the functional units 2 constitute a single transport zone when a conveyor line is constructed.
  • the functional unit 2a of the conveyor unit 1a shown in FIG. 1 constitutes a straight conveyance zone.
  • the functional part 2b of the conveyor unit 1b of FIG. 2 constitutes a branch zone.
  • the functional unit 2a shown in FIG. 1 is a roller conveyor, which is a plurality of conveyance rollers 5 that convey articles between a pair of left and right side frames 3 and 3 arranged in parallel, and are supported at predetermined intervals in the conveyance direction. is there.
  • the conveyance roller 5 includes a driven roller 5b that freely rotates and a motor-integrated roller 5a that incorporates a drive motor (not shown).
  • a drive motor not shown.
  • Conveying rollers 5 adjacent in the functional unit 2 a are wound around a transmission belt 6. Therefore, the rotational driving force of the motor built-in roller 5a can be transmitted to all the driven rollers 5b.
  • the motor built-in roller 5a is arranged at the center.
  • the function unit 2a can switch the carry-in direction and the transport direction by rotating the motor-incorporated roller 5a in the normal direction or the reverse direction, but the function of branching the transport destination and the function of introducing articles from a plurality of carry-in paths do not have.
  • the functional unit 2 is provided with a stock sensor S.
  • the in-stock sensor S is provided on the side frame 3. Further, the position of the stock sensor S is in the vicinity of the downstream end.
  • a photoelectric sensor can be used, and a light emitting element (not shown) such as a light emitting diode or an infrared diode is provided on the opposite side frame 3.
  • a light emitting element such as a light emitting diode or an infrared diode
  • H level on
  • L level off
  • the functional unit 2b employed in the conveyor unit 1b in FIG. 2 constitutes a branch zone of the transfer line and is a transfer device.
  • the functional unit 2b has a direction changing mechanism that switches between the transport direction and the carry-in direction.
  • the function part 2b is comprised by the main conveyance conveyor 21, the sub conveyance conveyor 22, and the raising / lowering apparatus (not shown).
  • the main transport conveyor 21 of the function unit 2b is a belt conveyor in which a plurality of thin belts 25 are arranged with a certain interval.
  • the main conveyor 21 is driven by a motor built-in roller 28 provided at the end.
  • the sub-transport conveyor 22 of the functional unit 2b is a roller conveyor.
  • the sub-transport conveyor 22 has a plurality of rollers 26 arranged in parallel, and these are interlocked by a belt (not shown).
  • One of the plurality of rollers 26 constituting the sub-conveyor 22 is a motor built-in roller, and all the rollers 26 are rotated by driving the motor built-in roller.
  • the sub-transport conveyor 22 is arranged such that rollers 26 exist between the belts 25 of the main transport conveyor 21.
  • the main transport conveyor 21 When the transported object placed on the functional unit 2b is moved straight, the main transport conveyor 21 is protruded above the sub transport conveyor 22 by a lifting device (not shown), and the motor built-in roller 28 of the main transport conveyor 21 is driven. The belt 25 is caused to travel.
  • the transported object placed on the functional unit 2b is discharged in the lateral direction, after the transported object is drawn into the main transport conveyor 21, the sub-transport conveyor 22 is lifted and lifted by the lifting device (not shown). Then, the sub-transport conveyor 22 is projected above the main transport conveyor 21, the motor built-in roller of the sub-transport conveyor 22 is driven, and each roller 26 is rotated.
  • the functional unit 2b is also provided with a stock sensor (not shown).
  • a functional unit 2c that constitutes a branching path for discharging articles in an oblique direction
  • a functional unit 2d that changes the path 360 degrees like the conveyor unit 1d shown in FIG.
  • a functional unit 2e equipped with a robot. Detailed description of these functional units 2 is omitted.
  • the cart 51 has a rectangular main body 32, and the self-moving means 10 described above is provided below the main body 32.
  • An individual control device 30 and a connector 31 are installed on the side surface of the main body 32.
  • a connecting means 35 and an alignment sensor 36 are provided on the front and rear surfaces of the main body 32.
  • the coupling means 35 is an example of a mechanical coupling means for mechanically coupling the conveyor units 1 to each other.
  • a storage battery 66 is built in the main body 32, and a charging connector 67 for charging the storage battery 66 is exposed from the main body 32.
  • the self moving means 10 is constituted by four wheels 46. Each wheel 46 is individually rotated by a motor (not shown). That is, each wheel 46 rotates in the forward direction and the reverse direction as indicated by an arrow A in FIG. Each wheel 46 is also rotated in the horizontal direction by a motor (not shown). That is, each wheel rotates in the horizontal direction as shown by an arrow B in FIG. 1 and can change the traveling direction.
  • the self-moving means 10 can rotate each wheel 46 at different rotational speeds, and can steer by rotating each wheel in the horizontal direction. Therefore, the trolley
  • each wheel 46 raises / lowers by motive power. That is, each wheel 46 moves up and down as indicated by an arrow C in FIG.
  • the self-moving means 10 is driven by receiving power supply from the storage battery 66.
  • a plurality of conveyor units 1 of the present embodiment are connected to construct a series of conveyor devices 100, and a program for controlling the conveyor device 100 in a distributed manner is stored in the individual control device 30. That is, the individual control device 30 has a function as a zone controller disclosed in Patent Documents 1 and 2. Specifically, as shown in FIG. 8, the individual control device 30 includes a conveyance logic storage unit 52, a conveyance unit control unit 53, and a communication unit 55 between adjacent units.
  • the completed conveyor apparatus 100 conveys articles by distributed control, and communication is performed between adjacent conveyor units 1 by the adjacent unit communication means 55. For example, whether or not there is an article in the adjacent conveyor unit 1, whether the adjacent conveyor unit 1 is driven or stopped, destination information of the article placed on the adjacent conveyor unit 1, etc.
  • the communication means 55 between the adjacent units communicates with each other.
  • the transport logic storage unit 52 stores a program for controlling the operation of the motor of the function unit 2 and the direction changing mechanism. For example, if it is the conveyor unit 1a of FIG. 1, the control program which performs the operation
  • the transport unit control means 53 is a circuit that drives the motor and the like of the functional unit 2.
  • the conveyor unit 1 of the present embodiment can be moved to an arbitrary position by a signal from the overall control device 101, and a control means for this purpose is provided in the individual control device 30.
  • the individual control device 30 includes position recognition means 56, position correction means 57, movement device control means 58, self-recognition means 60, and general control device communication means 61. That is, the conveyor unit 1 of this embodiment can be self-propelled by the self-moving means 10, and the self-moving means 10 is controlled by the moving device control means 58 of the individual control device 30. Further, the conveyor unit 1 has a function of automatically moving to the position of the layout drawn by the overall control device 101.
  • the individual control device 30 of the conveyor unit 1 has a built-in control device communication means (reception means) 61 built in, and a destination is designated from the control device communication means 61. Then, the position recognition means 56 recognizes its own position, and the movement device control means 58 controls the self movement means 10 to be guided to the target position.
  • the position correction means 57 receives a signal from the alignment sensor 36 and corrects the position of the conveyor unit 1.
  • the self identification number is stored in the self recognition means 60.
  • the connector 31 is a device for connecting a communication line or a power line with the adjacent conveyor unit 1.
  • the connecting means 35 is a device for mechanically connecting adjacent conveyor units 1 to each other.
  • the individual control device 30 operates by receiving power supply from the connector 31 and the storage battery 66.
  • the overall control apparatus 101 includes a layout creation means 40.
  • the layout creating means 40 is specifically a CAD program.
  • the conveyor device 100 can be designed by the CAD function of the overall control device 101.
  • the overall control apparatus 101 includes the input unit 41, and the layout unit of the conveyor apparatus 100 can be designed by operating the input unit 41.
  • the overall control apparatus 101 has display means 42, and the display means 42 can draw the layout of the transport line of the conveyor apparatus 100 as shown in FIG. Since a model diagram showing the function of the conveyor unit 1 as shown in FIG. 4B is displayed on the screen of the display means 42, the user can apply a desired function by applying the model diagram to the layout of the transport line.
  • the unit 1 can be arranged at a desired position.
  • the conveyor unit 1 has a unique identification number (unit identification information).
  • the identification number of the conveyor unit 1 having the function is displayed on the layout.
  • the identification number is a serial number from 1 to 18, and the conveyor unit 1 with the identification number from 1 to 14 is displayed on the layout.
  • the overall control apparatus 101 can also display the actually installed conveyor unit 1 by the current layout confirmation unit 43.
  • the individual control device communication means 45 is means for communicating with the individual control device 30.
  • the position reference device 102 is located in the room where the conveyor device 100 is installed, and serves as a reference for coordinates.
  • the position reference device 102 makes a reference for confirming the position of the conveyor unit 1 by radio waves or light.
  • a positioning system is constructed by the position reference device 102 and the position recognition means 56 of the individual control device 30.
  • the overall control device 101 can design a conveyor line layout, and the conveyor unit 1 can be self-propelled to construct a conveyor device 100 having a desired layout and function.
  • the layout of the conveyor apparatus 100 as shown in FIG. 4A is drawn by the CAD function of the layout creating means 40 of the overall control apparatus 101.
  • the model diagram of FIG. 4B is applied to the layout.
  • the identification number (unit identification information) of the corresponding conveyor unit 1 is displayed on the layout.
  • FIG. 5A is a plan view of the delivery place in the preparation stage.
  • the conveyor units 1 with identification numbers 1 to 18 are arranged at the end of the room.
  • the conveyor units 1 arranged beside the delivery area are activated, and the conveyor unit 1 is moved by the self-moving means 10.
  • the NO1 conveyor unit 1 that should be at the end of the conveyor apparatus 100 moves to a predetermined position.
  • the general control device 101 notifies the individual control device 30 of the conveyor unit 1 of NO1 of the leading position of the conveyor device 100 and instructs to move to the position.
  • the conveyor unit 1 of NO1 that has received the command by the reception function of the overall control device communication means 61 recognizes its current position based on the position reference device 102 in which the position recognition means 56 is placed in the room, and the target position
  • the self-moving means 10 is driven so as to move.
  • the general control apparatus 101 has a travel route search function, and searches for the shortest route for moving from its current position to the target position.
  • the conveyor unit 1 moves along the shortest route and reaches the target position.
  • the NO2 conveyor unit 1 to be connected to the NO1 conveyor unit 1 moves to a predetermined position.
  • the NO2 conveyor unit 1 also recognizes its current position and drives the self-moving means 10 so as to move to the target position.
  • the overall control apparatus 101 searches for the shortest route, moves along the shortest route, and reaches the target position.
  • the conveyor unit 1 after the NO2 conveyor unit 1 some conveyor units 1 have already moved first, and there may be an obstacle on the shortest route. In such a case, a travel route that avoids the obstacle is searched, and the vehicle travels along the route. Further, when there is an obstacle on the travel route that is not recognized by the overall control apparatus 101 and the conveyor unit 1 collides with the obstacle, the travel route is canceled and a new travel route is searched.
  • the alignment sensor 36 of the NO1 conveyor unit 1 and the alignment sensor 36 of the subsequent NO2 conveyor unit 1 react with each other, and the NO2 conveyor unit 1
  • the NO2 conveyor unit 1 is brought close to the NO1 conveyor unit 1 while correcting the position.
  • the connectors 31 and the connecting means 35 are automatically connected.
  • each wheel 46 can be moved up and down by power, and the level is automatically adjusted. That is, the wheels 46 are moved up and down so that the level of the adjacent conveyor unit 1 is adjusted so that the height of the NO2 conveyor unit 1 is aligned with the height of the NO1 conveyor unit 1.
  • the layout of the conveyor apparatus 100 is changed, the layout after the change of the conveyor apparatus 100 is drawn by the CAD function of the overall control apparatus 101.
  • a movement start switch (not shown) of the overall control apparatus 101 is operated, the conveyor unit 1 corresponding to the changed portion is self-propelled as shown in FIG. 6B and moved to a new position.
  • FIG. 7A when it is necessary to transport an article by a material hand device such as a forklift 105, a part of the conveyor device 100 is divided by a predetermined procedure, and the travel path of the forklift 105 Is secured. That is, as shown in FIG. 7A, when the forklift 105 approaches the conveyor device 100, as shown in FIG. 7B, some of the conveyor units 1 are self-propelled and the conveyor line of the conveyor device 100 is divided. The travel path of the forklift 105 is opened. Then, as shown in FIG. 7B, the forklift 105 passes through the traveling path that appears by dividing the conveyor device 100 and crosses the conveyor device 100.
  • the position reference device 102 is installed in the delivery area, and the position of the conveyor unit 1 is recognized by communication between the position reference device 102 and the conveyor unit 1.
  • the present invention is limited to this configuration. It is not a thing.
  • a signal line may be stretched around the floor of the delivery area, and the position of the conveyor unit 1 may be recognized by the signal line.
  • the operation when the conveyor apparatus 100 is constructed by the conveyor unit 1 has been mainly described.
  • the article is mounted on the conveyor unit 1 and the article is conveyed by driving the self-moving means 10 in this state. May be.
  • articles are mounted on the conveyor unit 1, and in this state, the self-moving means 10 is driven to move the conveyor unit 1 and connect to an existing conveyor device (another transfer device). Then, the functional unit 2 of the conveyor unit 1 is driven to send the article to the existing conveyor device.
  • the conveyor units 1 travel independently and construct a series of conveyor devices 100.
  • a plurality of conveyor units 1 may move in a connected state.
  • two conveyor units 1a may be connected at different locations, moved in that state, and combined with other conveyor units 1a.
  • each conveyor unit 1 may change an attitude
  • the conveyor unit 1a that performs only linear conveyance is connected to the conveyor unit 1b having a branch function as shown in FIG. 14, if the conveyor unit 1a approaches the conveyor unit 1b as shown in FIG. Assume. At this time, if the article conveying direction of the conveyor unit 1a intersects the article carrying direction of the existing conveyor unit 1b as shown in FIG. 14 (b), the adjacent side as shown in FIG. 14 (c). The existing conveyor unit 1a turns on the spot and changes its direction. And the article conveyance direction of the conveyor unit 1a becomes a posture along the article carrying-out direction of the conveyor unit 1b. In this state, the conveyor unit 1a further approaches and is connected to the conveyor unit 1b.
  • each of the conveyor units 1 includes self-moving means 10 that moves the conveyor unit 1 itself, and can move independently.
  • the present invention is not limited to this configuration, and may be moved by a separate moving means 62 like the conveyor unit 63 of FIG.
  • the conveyor unit 63 shown in FIG. 15 has the function part 2a like the above-described conveyor unit, the conveyor unit 63 does not include the self-moving means 10.
  • the moving means 62 is a small traveling device, and has four wheels 46 similar to the above-described carriage unit 51. Each wheel 46 is individually rotated by a motor (not shown). Each wheel 46 also rotates in the horizontal direction. Each wheel 4 of the moving means 62 can be rotated at different rotational speeds and can be steered by rotating each wheel in the horizontal direction.
  • the conveyor unit 63 shown in FIG. 15 is connected to the moving means 62 and is moved by being pushed by the moving means 62.
  • each wheel 46 does not rotate by itself but idles. Each wheel 46 also idles in the horizontal direction, and the traveling direction changes according to the direction in which the moving means 62 pushes. However, also in this embodiment, each wheel 46 moves up and down by power. That is, each wheel 46 moves up and down as indicated by an arrow C in FIG.
  • the conveyor unit 63 of this embodiment does not have the self-moving means 10, the number of parts is small and the structure is simple. Further, by reciprocating the moving means 62, the conveyor unit 63 can be moved entirely by a small number of moving means 62.
  • a conveyor unit 70 shown in FIG. 17 includes a main body 71 and a traveling wheel 72.
  • the main body portion 71 is obtained by removing the wheel 46 portion of the conveyor unit 70 exemplified above, and has the other main components of the carriage unit 51 and the functional unit 2.
  • the traveling wheel portion 72 has a wheel 73 attached to the lower surface of the plate body 75. It is desirable to standardize the traveling wheel part 72 so that various functional parts 2 can be mounted.
  • the functional unit 2 is mounted on the carriage unit 51.
  • the versatility of the cart unit 51 and the function unit 2 can be enhanced.
  • the cart unit 51 and the functional unit 2 be unitized and configured so that an arbitrary functional unit 2 can be mounted on the cart unit 51.
  • the conveyor units 1 and 63 of the above-described embodiment are for constructing the conveyor device 100 that transports articles in a planar manner, but a conveyor unit 65 that is applied to a three-dimensional conveyor device is also conceivable.
  • the functional unit 2 a is installed on the carriage unit 51 in a two-story manner.
  • a three-dimensional conveyor device can be constructed.
  • the conveyor unit 65 shown in FIG. 18 has two rows of functional units 2a that convey articles in a straight line and are arranged in parallel, but two functional units 2a may be arranged in a three-dimensional crossing up and down. It is done.
  • a conveyor unit 75 shown in FIG. 19 is configured such that two functional units 2a are three-dimensionally crossed up and down.
  • the conveyor units 65 and 75 described in FIGS. 18 and 19 have a first floor portion and a second floor portion, and each has a functional unit 2a, but only the upper floor portion. Also good.
  • the conveyor unit 76 shown in FIG. 20 has a structure having only the second floor portion, and the functional unit 2a is provided at a high position.
  • the conveyor units 65, 75, and 76 having the second floor shown in FIGS. 18, 19, and 20 are all provided with the functional unit 2a in the region immediately above the carriage unit 51.
  • the functional unit 2a is a carriage.
  • the position may be offset with respect to the portion 51.
  • the conveyor unit 77 shown in FIG. 21 has the functional part 2a up and down, and the position of the functional part 2a is shifted in the horizontal direction. That is, the conveyor unit 77 shown in FIG. 21 has a lower-side functional unit 2La on the carriage unit 51, is higher than the lower-side functional unit 2La in the height direction, and is in the horizontal direction a carriage unit.
  • the upper functional unit 2Ha is installed at a position shifted from the position 51.
  • the conveyor unit 78 shown in FIG. 22 has a structure having only the second floor portion, and the functional unit 2 a is installed at a high position and offset with respect to the carriage unit 51.
  • All of the functional units 2 of the above-described embodiment have a function of conveying an article, but the present invention is not limited to this configuration.
  • it may be a functional unit that applies predetermined force to the article to perform a predetermined process.
  • the function part which performs a heating, disinfection, packaging, heat processing, etc. may be sufficient.
  • it may be a functional unit that performs full length measurement, weight measurement, or the like, or a functional unit that confirms the destination of an article.
  • the conveyor units 1, 63, 65, 70, 75, 76, 77, and 78 described above all have wheels 46, but the wheels 46 are not necessarily required if they are conveyor units that do not have a self-propelled function. Is not necessary.
  • the moving means 82 is a small traveling device and has four wheels 46. Each wheel 46 is individually rotated by a motor (not shown). Each wheel 46 is also rotated in the horizontal direction by a motor (not shown). Each wheel 4 of the moving means 82 can be rotated at different rotational speeds, and each wheel can be steered by rotating in the horizontal direction.
  • the moving means 82 has the raising / lowering stand 85 on the upper surface.
  • the elevator 85 is moved up and down in the vertical direction by an actuator (not shown).
  • the moving means 82 When the conveyor unit 80 is moved, the moving means 82 is moved under the main body 32 of the conveyor unit 80 as shown in FIGS. 23 (b) and 24 (a). Then, as shown in FIG. 24 (b), the elevator 85 is raised and the conveyor unit 80 is scooped up by the elevator 85. Thereafter, the wheels 46 are rotated to convey the conveyor unit 80 to a desired place. Then, the elevator 85 is lowered at the position, and the fixed leg 81 of the main body 32 is landed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)

Abstract

La présente invention aborde le problème de la production d'un dispositif transporteur et d'une unité transporteuse, moyennant quoi l'exécution de ceux-ci ou le changement de la disposition de ceux-ci est facilement réalisée. Dans une partie principale du dispositif transporteur, de nombreuses unités transporteuses 1 sont combinées. Chacune des unités transporteuses 1 comporte une partie fonctionnelle 2 pour déplacer ou changer l'orientation d'un objet sur l'unité transporteuse 1, et un moyen d'auto-déplacement 10 pour déplacer l'unité transporteuse 1 elle-même. Le moyen d'auto-déplacement 10 de l'unité transporteuse 1 fonctionne en réponse à un signal prédéfini et se déplace vers le voisinage d'une autre unité transporteuse 1, et une ligne de transport souhaitée est construite.
PCT/JP2017/030169 2016-08-24 2017-08-23 Dispositif transport et unité de transport Ceased WO2018038171A1 (fr)

Priority Applications (1)

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JP2018535743A JP6923217B2 (ja) 2016-08-24 2017-08-23 コンベヤ装置

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JP2016-164177 2016-08-24
JP2016164177 2016-08-24

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JP2019194124A (ja) * 2018-03-12 2019-11-07 インターロール・ホールディング・アーゲー ローラコンベヤ用の駆動装置
JPWO2021100093A1 (fr) * 2019-11-18 2021-05-27
WO2021100091A1 (fr) * 2019-11-18 2021-05-27 日本電気株式会社 Dispositif de commande de transport, procédé de commande de transport, et support d'enregistrement sur lequel a été enregistré un programme de commande de transport
WO2023041261A1 (fr) * 2021-09-14 2023-03-23 Siemens Logistics Gmbh Unité de transport, système de transport et procédé pour transporter, stocker et trier des unités de chargement sur des unités de transport
EP4292961A1 (fr) * 2022-06-14 2023-12-20 Daifuku Co., Ltd. Système de transfert
WO2024068477A1 (fr) * 2022-09-30 2024-04-04 Admv Sas Système modulaire de dispositifs configurables pour chaînes de production robotisées réglables
WO2024068480A1 (fr) * 2022-09-30 2024-04-04 Admv Sas Interface pour système modulaire de dispositifs configurables pour chaînes de production robotisées réglables
WO2024095326A1 (fr) * 2022-10-31 2024-05-10 株式会社Fuji Dispositif de transfert
EP4385910A1 (fr) * 2022-12-15 2024-06-19 BEUMER Group GmbH & Co. KG Ligne d'emballage et système associé

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KR102646544B1 (ko) * 2023-04-13 2024-03-14 황희주 설치와 변형이 자유로운 기능성 스마트 컨베이어 시스템

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JPH09221221A (ja) * 1996-02-16 1997-08-26 Komatsu Giken Kk 基板供給装置
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JP2019194124A (ja) * 2018-03-12 2019-11-07 インターロール・ホールディング・アーゲー ローラコンベヤ用の駆動装置
US11008169B2 (en) 2018-03-12 2021-05-18 Interroll Holding Ag Driving device for a roller conveyor
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JP7251654B2 (ja) 2019-11-18 2023-04-04 日本電気株式会社 搬送装置、制御方法、及び、制御プログラム
WO2021100093A1 (fr) * 2019-11-18 2021-05-27 日本電気株式会社 Dispositif de transport, procédé de commande et support d'enregistrement sur lequel est enregistré un programme de commande
JPWO2021100091A1 (fr) * 2019-11-18 2021-05-27
JP7180789B2 (ja) 2019-11-18 2022-11-30 日本電気株式会社 搬送制御装置、搬送制御方法、及び、搬送制御プログラム
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JPWO2021100093A1 (fr) * 2019-11-18 2021-05-27
WO2021100091A1 (fr) * 2019-11-18 2021-05-27 日本電気株式会社 Dispositif de commande de transport, procédé de commande de transport, et support d'enregistrement sur lequel a été enregistré un programme de commande de transport
WO2023041261A1 (fr) * 2021-09-14 2023-03-23 Siemens Logistics Gmbh Unité de transport, système de transport et procédé pour transporter, stocker et trier des unités de chargement sur des unités de transport
EP4292961A1 (fr) * 2022-06-14 2023-12-20 Daifuku Co., Ltd. Système de transfert
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WO2024068477A1 (fr) * 2022-09-30 2024-04-04 Admv Sas Système modulaire de dispositifs configurables pour chaînes de production robotisées réglables
WO2024068480A1 (fr) * 2022-09-30 2024-04-04 Admv Sas Interface pour système modulaire de dispositifs configurables pour chaînes de production robotisées réglables
WO2024095326A1 (fr) * 2022-10-31 2024-05-10 株式会社Fuji Dispositif de transfert
EP4385910A1 (fr) * 2022-12-15 2024-06-19 BEUMER Group GmbH & Co. KG Ligne d'emballage et système associé

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