JP2023132250A - Conveyance control device, and control method for conveyance control device - Google Patents

Abstract

To enable a continuous operation of an article conveyance equipment in which abnormal tendency is observed.SOLUTION: A conveyance control device (10) includes: an acquisition unit (11) that acquires one or more types of measurement data measured when a conveyance device (4) conveys an article in an article conveyance equipment (1) including the conveyance device (4); a comparison unit (12) that compares a measurement data with a threshold value; and a control unit (13) that controls to reduce at least one of acceleration and deceleration of the conveyance device (4) when the threshold value is exceeded or when a difference from the threshold value is within a predetermined value.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a conveyance control device and the like that control the conveyance speed of a conveyance device in article conveyance equipment.

The article transport equipment that makes up the product production line is required to operate at high efficiency without unscheduled stoppages to prevent production from stagnation. Therefore, even when there is a tendency for abnormalities such as failures to occur, it is desirable that the article conveyance equipment continues to operate until the planned shutdown period by suppressing the occurrence of abnormalities as much as possible.

Patent Document 1 describes a conveyor that employs a protection device that forcibly stops the conveyor when the load on the drive motor becomes high.

Japanese Patent Application Publication No. 59-69309

The technology disclosed in Patent Document 1 is a technology for forcibly stopping the conveyor when the load on the drive motor becomes high, and is not a technology for continuing the operation of the conveyor.

One aspect of the present invention has been made in view of the above-mentioned problems, and its purpose is to continue operating article conveyance equipment that is prone to abnormalities.

A conveyance control device according to an aspect of the present disclosure includes an acquisition unit that acquires one or more types of measurement data measured when the conveyance device conveys an article in article conveyance equipment including a conveyance device; a comparison unit that compares the measured data and a threshold value set for each of the measured data; and when at least one type of the measured data exceeds the threshold value, or when the difference from the threshold value is within a predetermined value. , a control unit that controls to reduce at least one of acceleration and deceleration of the transport device.

Further, a control method for a conveyance control device according to an aspect of the present disclosure includes an acquisition step of acquiring one or more types of measurement data measured when the conveyance device conveys an article in article conveyance equipment including the conveyance device. and a comparison step of comparing the acquired measurement data with a threshold value set for each of the measurement data, and when at least one type of the measurement data exceeds the threshold value, or if the difference from the threshold value is If the value falls within a predetermined value, the method includes a control step of controlling at least one of acceleration and deceleration of the transport device to be reduced.

It is possible to reduce the load on the article conveyance equipment when the conveyance device is accelerated or decelerated. As a result, compared to before the load reduction, the time when the article conveyance equipment becomes abnormal can be postponed, and as a result, the operation of the article conveyance equipment can be continued.

1 is a diagram illustrating an example of friction-driven article conveyance equipment that is a premise of an embodiment of the present invention. 1 is a diagram illustrating an example of chain-driven article conveyance equipment, which is a premise of an embodiment of the present invention. FIG. 1 is a functional block diagram showing the configuration of main parts of a transport control device according to an embodiment of the present invention. FIG. 2 is a simplified diagram of friction-driven article conveyance equipment. 5 is a diagram showing details of area A in FIG. 4. FIG. FIG. 5 is a diagram showing the relationship between the wheels and rails attached to the truck shown in area B of FIG. 4. FIG. FIG. 2 is a simplified diagram of a chain-driven article conveyance facility. It is a figure which shows the structure of the trolley|bogie in another example of article conveyance equipment. FIG. 3 is a diagram showing an example of changes in current data. FIG. 3 is a diagram showing an example of changes in temperature data. FIG. 3 is a diagram showing an example of changes in vibration data. FIG. 3 is a diagram showing an example of changes in vibration data. FIG. 3 is a diagram showing an example of changes in sound data. FIG. 3 is a diagram showing an example of changes in sound data. FIG. 3 is a diagram showing an example of changes in sound data. 3 is a flowchart illustrating an example of a process flow of the conveyance control device.

〔overview〕
The conveyance control device 10 according to the present embodiment controls the conveyance of an article conveyance facility 1, which includes a conveyor or the like that conveys an object to be conveyed such as a vehicle body, which is installed in an automobile manufacturing factory or the like. The equipment for which the transport control device 10 controls transport may be any equipment as long as it transports articles using a conveyor or the like. In this embodiment, an example will be described in which a cart is used as the transport device 4 to transport articles.

First, with reference to FIGS. 1 and 2, an example of the article transport facility 1 to be controlled by the transport control device 10 according to the present embodiment will be described. FIG. 1 shows, as article conveyance equipment 1, equipment that conveys articles using a friction-driven conveyor. FIG. 2 shows an installation for conveying articles with a chain-driven conveyor.

[Friction drive type]
As mentioned above, FIG. 1 is an example of the article conveyance equipment 1, and shows a friction-driven conveyance equipment 511. The transport equipment 511 includes a plurality of traveling devices 531 disposed along a lower guide rail 514 that act on a load bar (not shown) of each truck 515 (corresponding to the truck 23 in FIG. 4) to cause the truck 515 to travel. has been done. Note that one of the traveling devices 531 is always arranged so as to act on the load bar of the truck 515 guided by the lower guide rail 514. Each traveling device 531 includes a friction drive wheel 532 (corresponding to the drive roller 24 in FIG. 5), a backup roller 533 (corresponding to the backup roller 21 in FIG. 5) that sandwich the driven side surface of the load bar from both left and right sides, and a friction drive wheel 532 (corresponding to the backup roller 21 in FIG. 5). A friction drive wheel 532 and a backup roller 533 are supported so as to be movable laterally in a horizontal direction approximately perpendicular to the movement path of the load bar, that is, the conveyance line p, and are supported by a spring. (not shown) toward the load bar, and the friction drive wheel 532 is configured to reliably press against the driven side surface of the load bar. Further, each traveling device 531 is provided with a presence detector 536 which is a magnetic sensor that detects the presence (presence or absence) of the trolley 515 based on the presence or absence of a load bar.

[Chain driven type]
As mentioned above, FIG. 2 is an example of the article conveyance equipment 1, and shows an example of the chain-driven conveyance equipment 610. In the conveyance equipment 610, a chain drive section 630 including a drive chain 624 (corresponding to the chain 30 in FIG. 7) and a friction drive section 631 are set in the circulation path of a conveyance traveling body (not shown). ing. The drive system in the friction drive section 631 is the same as that of the conveyance equipment 511 in FIG. 1 described above. In the friction drive section 631, friction drive means 632 are disposed along the travel path of the transport vehicle at intervals not longer than the entire length of a load bar (not shown). The friction drive means 632 includes a friction drive wheel, a motor with a speed reducer that rotationally drives the friction drive wheel, and a biasing means for bringing the friction drive wheel into pressure contact with one side of the friction drive surface of the load bar of the conveyance vehicle. It consists of The drive chain 624, which is suspended so as to rotate along the chain drive section 630, is connected to a drive means 646 (corresponding to the drive device 28 in FIG. 7) in a return path section 645 extending from the terminal end to the start end of the chain drive section 630. and is tensioned by take-up means 647 to maintain an appropriate tension. Furthermore, fixed stop positions 648a and 648b are set within the chain drive section 630.

[Main part configuration of conveyance control device 10]
Next, the transport control device 10 will be explained with reference to FIG. FIG. 3 is a functional block diagram showing the main configuration of the transport control device 10. As shown in FIG. The conveyance control device 10 acquires one or more types of measurement data measured when an article is conveyed by the trolley 23 in the article transport equipment including the trolley 23, and uses the acquired measurement data to calculate the acceleration and deceleration of the trolley 23. It controls at least one of the speeds. As shown in FIG. 3, the transport control device 10 includes an acquisition section 11, a comparison section 12, and a control section 13.

The transport control device 10 controls the movement of the transport device 4. The transport device 4 transports the article to a desired position by accelerating, moving at a constant speed, decelerating, and stopping according to commands from the transport control device 10. The article may be conveyed repeatedly, in which case acceleration, constant speed movement, deceleration, and stopping are repeated.

The acquisition unit 11 acquires measurement data measured when the conveyance device 4 included in the article conveyance equipment 1 conveys an article. Examples of measurement data include the following: Note that in this specification, "nearby" includes the meanings of "adjacent position" and "adjacent position".
- Vibration data: Data indicating vibrations of the measurement target 2 or the vicinity of the measurement target 2.
-Current data: Data indicating the current supplied to the measurement target 2.
- Temperature data: Data indicating the temperature of the measurement target 2 or the vicinity of the measurement target 2.
- Sound data: Data indicating the sound collected near the measurement target 2.

The vibration data can be obtained by installing a vibration meter (for example, an acceleration sensor) at or near the measurement target 2. The current data can be obtained by measuring the current supplied to the measurement target 2 with an ammeter. A typical example of the measurement object 2 to which current is supplied is the motor 25. Temperature data can be obtained by installing a thermometer at or near the measurement target 2. The sound data can be obtained by installing a sound collection device (microphone) at or near the measurement target 2. Hereinafter, the vibration meter, ammeter, thermometer, and sound collecting device will also be collectively referred to as the sensor 3.

The acquisition unit 11 acquires each measurement data obtained by the sensor 3 installed at or near the measurement target 2.

The comparison unit 12 compares the measurement data acquired via the acquisition unit 11 with a preset threshold value.

The control unit 13 controls to reduce at least one of the acceleration and deceleration of the transport device 4 when at least one type of measurement data exceeds a threshold value or when the difference from the threshold value is within a predetermined value. .

The control unit 13 may control the transport device 4 to reduce the acceleration in a section (hereinafter also referred to as an acceleration section) from a stopped state to a constant speed moving state.

Further, the control unit 13 may control the transport device 4 to reduce the deceleration in a section (hereinafter also referred to as a deceleration section) from a constant speed moving state to a stopped state.

Further, the control unit 13 may determine the degree of reduction in acceleration or deceleration according to the ratio of the peak value of the measurement data to the threshold value.

Further, the control unit 13 may determine the degree of decrease in acceleration or deceleration so as to decrease the peak value of the measurement data by a predetermined percentage (for example, so that the peak value decreases by 20%).

If at least one type of measurement data exceeds a threshold value, the control unit 13 may further reduce the speed of the transport device 4 during constant speed movement.

The control unit 13 may determine the degree of speed reduction according to the ratio of the peak value of the measurement data to the threshold value.

The control unit 13 may determine the degree of speed reduction so that the peak value of the measurement data is lowered by a predetermined percentage (for example, the peak value is reduced by 20%).

[Example of measurement target 2]
Next, an example of measurement target 2 will be described with reference to FIGS. 4 to 8. Measurement objects 2 include rails 22, wheels 231, motors 25, speed reducers 26, drive shaft rotating parts 27, chains 30, and guide rollers 33, which are provided on the transport path of the transport device 4.

4 to 6 show examples of the rail 22, wheel 231, motor 25, reduction gear 26, and drive shaft rotating section 27.

FIG. 4 is a simplified diagram of the friction-driven article conveying equipment 1. As shown in FIG. Further, FIG. 5 is a diagram showing details of area A in FIG. 4. FIG. 6 is a diagram showing the relationship between the wheel 231 attached to the trolley 23 and the rail 22 shown in area B of FIG.

In the article conveying equipment 1 shown in FIG. 4, a load bar 232 provided on the cart 23 is driven by a drive roller 24, so that the cart 23 moves on the rails 22. As shown in FIG. 5, the drive roller 24 rotates as the rotation of the motor 25 is transmitted to the reducer 26, and the drive shaft rotating section 27 rotates as the reducer 26 rotates. As the drive roller 24 rotates, the load bar 232 moves due to frictional force, and the cart 23 moves. The backup roller 21 is paired with the drive roller 24 and is installed to sandwich the load bar 232. By sandwiching the load bar 232 between the drive roller 24 and the backup roller 21, the cart 23 can be stably moved. It is now possible to do so.

Further, as shown in FIG. 5, the sensor 3 may be installed at or near the motor 25. Similarly, the sensor 3 may be installed at or near the reducer 26. The motor 25 or the sensor 3 installed near the motor 25 may include a plurality of sensors that respectively detect vibration, current, temperature, and sound. Further, the reducer 26 or the sensor 3 installed near the reducer 26 may include a plurality of sensors that respectively detect vibration, temperature, and sound.

Further, as shown in FIG. 6, the wheels 231 of the truck 23 run on the rails 22, thereby making the truck 23 movable. The wheels 231 of the truck 23 and the rails 22 are in direct contact with each other, and if there is a problem with either of them, the structure is such that noise and the like will be generated due to the contact, as will be described later.

An example of the chain 30 is shown in FIG. FIG. 7 is a simplified diagram of the chain-driven article conveyance equipment 1. As shown in FIG. In the article conveyance equipment 1 shown in FIG. 7, the chain 30 is driven by the rotation of the drive device 28, and thereby the cart 29 is moved.

FIG. 8 shows the configuration of a trolley 31 in another example of article conveyance equipment. 81 in FIG. 8 shows the cart 31 seen from above, and 82 shows the cart 31 seen from the traveling direction side or the opposite side to the traveling direction. As shown at 81 in FIG. 8, in this example, two wall-shaped side guides 32 are provided on both sides of the trolley 31 so as to sandwich the trolley 31, and these side guides 32 allow the transport path of the trolley 31 to is formed. The trolley 31 is provided with guide rollers 33 and running wheels 34, and is moved by the running wheels 34, and as shown at 82 in FIG. Move to.

Note that the cart 31 may be operated alone, or a plurality of carts 31 may be operated in a connected state. Further, the trolley 31 may be externally driven by known means, or the trolley 31 itself may be provided with a driving source.

[Example of measurement data]
[Current data]
Next, the details of control in the control unit 13 will be explained using an example of measurement data. First, an example in which the measurement data is current data supplied to the motor 25 and there is an abnormality in the reducer 26 will be described with reference to FIG. 9. FIG. 9 is a diagram showing an example of changes in current data supplied to the motor 25.

As shown at 801 in FIG. 9, when the article conveyance equipment 1 is operating normally, the conveyance apparatus 4 starts accelerating at time t11 when it is in a stopped state, for example, in accordance with the speed command from the conveyance control apparatus 10, and It enters a constant speed movement state at time t12, starts decelerating from time t13, and reaches a stop state at time t14. At this time, as shown at 801 in FIG. 9, the current supplied to the motor 25 (1) sharply increases with acceleration and reaches the maximum value, and (2) reaches a value smaller than the maximum value when moving at a constant speed. It becomes approximately constant at , (3) sharply decreases with deceleration, and (4) returns to the initial value with stop.

As shown at 801 in FIG. 9, during normal operation, the current supplied to the motor 25 does not exceed the threshold value Th11 during acceleration, and does not exceed the threshold value Th12 during constant speed movement, so the current supplied to the motor 25 is This is not something that could lead to abnormalities such as failure of the equipment 1.

However, due to some abnormality (for example, oil leakage from the reducer 26), as shown in 802 in FIG. 9, the current supplied to the motor 25 may exceed the threshold Th11 during acceleration or when moving at a constant speed The threshold value Th12 may be exceeded. This is because if the resistance inside the reducer 26 increases due to oil leakage or the like, more current is required to move the conveyance device 4 than during normal operation. If the article conveyance equipment 1 continues to operate in this state, abnormalities such as failure of the article conveyance equipment 1 may occur.

Therefore, the control unit 13 controls at least one of the acceleration and deceleration of the transport device 4 so that the current supplied to the motor 25 falls below the threshold Th11 during acceleration or below the threshold Th12 during constant speed movement. Perform control to lower the level. An example after control by the control unit 13 is shown at 803 in FIG. As shown at 803 in FIG. 9, the control unit 13 changes the acceleration of the conveyance device 4 in the acceleration period (from time t31 to time t32) to the acceleration period (from time t11 to time t12) shown in 801 in FIG. It is lowered than the acceleration of the transport device 4. The control unit 13 also controls the deceleration of the conveyance device 4 in the deceleration zone (from time t33 to time t34) to the deceleration of the conveyance device 4 in the deceleration zone (from time t13 to time t14) shown at 801 in FIG. lower it further. As a result, it is possible to reduce the load applied to the article conveying equipment 1 when the conveying device 4 accelerates or decelerates.

The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration zone and the deceleration of the conveying device 4 in the deceleration zone, or may reduce only the acceleration of the conveying device 4 in the acceleration zone, Only the deceleration of the conveyance device 4 in the deceleration section may be reduced. Note that by reducing the deceleration rate, it is expected that vibrations and generated noise will be reduced, and the load on the article conveyance equipment 1 can be reduced. Thereby, the time when the article conveyance equipment 1 becomes abnormal can be postponed, and the operation can be continued.

The method for determining the degree of reduction in acceleration or deceleration of the transport device 4 is not limited, and various methods can be considered. For example, the control unit 13 may determine the degree of reduction in acceleration or deceleration according to the ratio of the peak value of the current to the threshold value. Specifically, the degree of reduction in acceleration or deceleration may be determined according to the ratio of the peak value PA of the current during abnormality to the threshold value Th11 shown at 802 in FIG. 9 .

For example, the control unit 13 may determine the degree of reduction in acceleration or deceleration so as to reduce the peak value of the current by a predetermined percentage. Specifically, the degree of decrease in acceleration or deceleration may be determined so that the peak value PA of the current during abnormality shown at 802 in FIG. 9 decreases by a predetermined percentage.

Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may reduce the speed of the transport device 4 when it moves at a constant speed. Specifically, the control unit 13 changes the speed of the conveying device 4 in the constant speed movement section (from time t32 to time t33) shown at 803 in FIG. t12 to time t13).

When reducing the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of speed reduction according to the ratio of the peak value PA to the threshold Th11. Further, the control unit 13 may determine the degree of speed reduction so that the peak value PA decreases by a predetermined percentage.

[Temperature data]
Next, an example in which the measurement data is temperature data will be described with reference to FIG. 10. FIG. 10 is a diagram illustrating an example of a change in temperature data of measurement target 2. In FIG. FIG. 10 shows an example of changes in temperature data of the motor 25, the speed reducer 26, the drive shaft rotating section 27, the drive device 28 that drives the chain 30, and the shaft section of the wheel 231 as the measurement object 2.

As shown in FIG. 10, the temperature of the measurement target 2 during normal operation (before time t41) is approximately constant at a value smaller than the threshold Th21, which may lead to abnormalities such as failure of the article conveyance equipment 1. isn't it.

However, due to the occurrence of some abnormality, the temperature of the measurement target 2 may exceed the threshold Th21, as shown in FIG. Examples of abnormalities include oil leakage if the measurement target 2 is the motor 25 or reducer 26, or oil leakage if the measurement target 2 is the drive shaft rotating part 27, the drive device 28 that drives the chain 30, or the shaft of the wheel 231. For example, the grease may run out at rotating parts. When the resistance inside the measurement object 2 increases due to oil leakage, lack of grease, etc., the temperature increases accordingly. As a result, as described above, the temperature of the measurement target 2 may exceed the threshold Th21.

In the example shown in FIG. 10, the temperature exceeds the threshold Th21 from time t41. If the article conveyance equipment 1 continues to operate in this state, abnormalities such as failure of the article conveyance equipment 1 may occur.

Therefore, the control unit 13 reduces at least one of the acceleration and deceleration of the conveyance device 4. By reducing at least one of the acceleration and deceleration of the transport device 4, the load placed on the article transport equipment 1 can be lowered, and the temperature of the measurement target 2 can be made equal to or lower than the threshold value Th21. In the example shown in FIG. 10, the temperature is equal to or lower than the threshold Th21 after time t42. Thereby, the load applied to the article conveyance equipment 1 when the conveyance device 4 is accelerated or decelerated can be reduced.

The method for determining the degree of reduction in acceleration or deceleration of the transport device 4 is not limited, and various methods can be considered. For example, the control unit 13 may determine the degree of reduction in acceleration or deceleration depending on the ratio of temperature to a threshold value. Specifically, the degree of reduction in acceleration or deceleration may be determined according to the ratio of temperature PB during abnormality to threshold value Th21 shown in FIG. 10.

Further, the control unit 13 may determine the degree of reduction in acceleration or deceleration so as to lower the temperature by a predetermined percentage. Specifically, the degree of decrease in acceleration or deceleration may be determined so that the temperature PB during abnormality shown in FIG. 10 decreases by a predetermined percentage.

The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration zone and the deceleration of the conveying device 4 in the deceleration zone, or may reduce only the acceleration of the conveying device 4 in the acceleration zone, Only the deceleration of the conveyance device 4 in the deceleration section may be reduced. Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may reduce the speed of the transport device 4 when it moves at a constant speed.

When reducing the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of speed reduction according to the ratio of the abnormal temperature PB to the threshold Th21. Further, the control unit 13 may determine the degree of speed reduction so that the temperature PB during abnormality is reduced by a predetermined percentage.

[Vibration data]
Next, an example in which the measurement data is vibration data will be described with reference to FIGS. 11 and 12. FIGS. 11 and 12 are diagrams showing examples of changes in vibration data. FIG. 11 shows an example of changes in vibration data of the guide roller 33, the drive shaft rotating section 27, the rail 22, and the wheel 231 as the measurement object 2. FIG. 12 shows an example of changes in vibration data of the motor 25, reduction gear 26, chain 30, drive shaft rotating section 27, rail 22, and wheel 231 as the measurement object 2. Note that the vibration sensor (acceleration sensor) measures acceleration in three axes (X-axis, Y-axis, and Z-axis). Here, the X axis is the transport direction, the Y axis is the horizontal direction, and the Z axis is the vertical direction. FIGS. 11 and 12 show waveforms of vibrations occurring on the X-axis and Y-axis. Further, vibration data of the chain 30 may be measured via a drive device 28 that drives the chain 30 and a support member (not shown) that supports the chain 30.

[When vibration occurs periodically]
If some abnormality occurs, periodic vibrations may occur. For example, if some kind of resistance such as deformation occurs in a part of the side guide 32 (see FIG. 8), vibration will occur every time the guide roller 33 comes into contact with the resistance. Similarly, if some resistance such as deformation occurs in a portion of the drive shaft rotating section 27, vibration will occur every time the drive shaft rotating section 27 rotates. Further, if some resistance such as deformation occurs in a part of the rail 22, vibration will occur every time the wheel 231 passes over the rail 22. Further, if some resistance such as deformation occurs in a portion of the wheel 231, vibration will occur every time the wheel 231 rotates. In this way, if some resistance such as deformation occurs in a part, vibrations will occur periodically.

In an abnormal situation where vibrations occur periodically, for example, as shown at 1001 in FIG. 11, the vibrations exceed the threshold Th31 after each of times t51A, t52A, t53A, t54A, t55A, and t56A. , and falls below the threshold Th32 at times t51B, t52B, t53B, t54B, t55B, and t56B. If the article conveyance equipment 1 continues to operate in this state, abnormalities such as failure of the article conveyance equipment 1 may occur.

Therefore, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the transport device 4 so that the vibrations generated in the measurement object 2 are below the threshold Th31 and above the threshold Th32. An example after control by the control unit 13 is shown at 1002 in FIG. In the example shown at 1002 in FIG. 11, the vibration is equal to or lower than the threshold Th31 at each time point t61A, t62A, t63A, t64A, t65A, and t66A, which are the upper peaks of vibration, and the vibration is lower than the lower peak of vibration. At certain times t61B, t62B, t63B, t64B, t65B, and t66B, the threshold value Th32 or more is reached. Thereby, the load applied to the article conveyance equipment 1 when the conveyance device 4 is accelerated or decelerated can be reduced.

The method for determining the degree of reduction in acceleration or deceleration of the transport device 4 is not limited, and various methods can be considered. For example, the control unit 13 may determine the degree of reduction in acceleration or deceleration depending on the ratio of vibration to a threshold value. Specifically, the degree of reduction in acceleration or deceleration may be determined according to the ratio of the peak value PC of vibration during abnormality to the threshold Th31 shown at 1001 in FIG. 11. Furthermore, the degree of reduction in acceleration or deceleration may be determined based on the ratio of peak value PD to threshold Th32 instead of peak value PC.

Further, the control unit 13 may determine the degree of reduction in acceleration or deceleration so as to lower the temperature by a predetermined percentage. Specifically, the degree of reduction in acceleration or deceleration may be determined so that the peak value PC of vibration during abnormality shown at 1001 in FIG. 11 is reduced by a predetermined percentage. Furthermore, the degree of reduction in acceleration or deceleration may be determined so that the peak value PD, rather than the peak value PC, decreases by a predetermined percentage.

If the acceleration and deceleration of the conveyance device 4 are controlled so that the peak value PC is lowered, the amplitude of the vibration will be reduced overall, and the lower peak value PD will no longer fall below the threshold Th32. Similarly, if the acceleration and deceleration of the conveyance device 4 are controlled so that the peak value PD is reduced, the amplitude of the vibration is reduced overall, so that the upper peak value PC no longer exceeds the threshold Th31.

The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration zone and the deceleration of the conveying device 4 in the deceleration zone, or may reduce only the acceleration of the conveying device 4 in the acceleration zone, may reduce only the deceleration of the conveyance device 4 in the deceleration section.

Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may also reduce the speed of the transport device 4 when it moves at a constant speed.

When reducing the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of speed reduction according to the ratio of the peak value PC to the threshold Th31. Note that the degree of speed reduction may be determined based on the ratio of the peak value PD to the threshold Th32 instead of the peak value PC. Further, the control unit 13 may determine the degree of speed reduction so that the peak value PC decreases by a predetermined percentage. Note that the degree of speed reduction may be determined so that the peak value PD, instead of the peak value PC, decreases by a predetermined percentage.

Note that as the acceleration and deceleration of the transport device 4 decrease, the movement of the transport device 4 becomes slower, so the interval between times t61 and t66 is wider than the interval between times t51 and t56 shown in 1001 in FIG. There is.

[If the vibrations that occur continuously during normal operation become large]
Furthermore, the vibrations that are continuously occurring during normal operation may become larger than during normal operation if some abnormality occurs. For example, the motor 25, reducer 26, drive shaft rotating section 27, chain 30, rail 22, wheel 231, etc., continue to vibrate to some extent even during normal operation. However, for example, if the bearings connected to the motor 25, reducer 26, drive shaft rotating part 27, etc. wear out, or if the grease runs out, the resistance increases, resulting in increased vibration, and this condition continues. It will continue. Furthermore, if the vibrations of the motor 25, reducer 26, drive shaft rotating part 27, etc. become large, the chains 30, rails 22, wheels 231, etc. will be affected, and these vibrations will also become large, and this state will continue. .

FIG. 12 shows an example of vibration data in a case where vibrations that occur continuously during normal operation become larger during abnormal conditions, and this state continues.

In the example shown in FIG. 12, the state in which the vibration exceeds the threshold Th51 and the threshold Th52 continues from time t91. If the article conveyance equipment 1 continues to operate in this state, abnormalities such as failure of the article conveyance equipment 1 may occur.

Therefore, the control unit 13 reduces at least one of the acceleration and deceleration of the conveyance device 4. By reducing at least one of the acceleration and deceleration of the transport device 4, the load on the article transport equipment 1 can be lowered, and the vibration of the measurement object 2 can be made below the threshold Th51 and the threshold Th52. In the example shown in FIG. 12, after time t92, the vibration becomes equal to or less than the threshold value Th51 and the threshold value Th52. Thereby, the load applied to the article conveyance equipment 1 when the conveyance device 4 is accelerated or decelerated can be reduced.

The method for determining the degree of reduction in acceleration or deceleration of the transport device 4 is not limited, and various methods can be considered. For example, the control unit 13 may determine the degree of reduction in acceleration or deceleration depending on the ratio of vibration to a threshold value. Specifically, the degree of reduction in acceleration or deceleration may be determined according to the ratio of the peak value PG of vibration during abnormality to the threshold Th51 shown in FIG. 12. Further, the degree of reduction in acceleration or deceleration may be determined based on the ratio of the peak value PH to the threshold Th52 instead of the peak value PG.

Further, the control unit 13 may determine the degree of reduction in acceleration or deceleration so as to reduce vibration by a predetermined percentage. Specifically, the degree of reduction in acceleration or deceleration may be determined so that the peak value PG of vibration during abnormality shown in FIG. 12 is reduced by a predetermined percentage. Furthermore, the degree of reduction in acceleration or deceleration may be determined so that the peak value PH, rather than the peak value PG, decreases by a predetermined percentage.

The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration zone and the deceleration of the conveying device 4 in the deceleration zone, or may reduce only the acceleration of the conveying device 4 in the acceleration zone, Only the deceleration of the conveyance device 4 in the deceleration section may be reduced. Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may reduce the speed of the transport device 4 when it moves at a constant speed.

When reducing the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of reduction in speed according to the ratio of the peak value PG of vibration during abnormality to the threshold Th51. Note that the degree of speed reduction may be determined based on the ratio of the peak value PH to the threshold Th52 instead of the peak value PG. Further, the control unit 13 may determine the degree of speed reduction so that the peak value PG of vibration during abnormality is reduced by a predetermined percentage. Note that the degree of speed reduction may be determined so that the peak value PH, rather than the peak value PG, decreases by a predetermined percentage.

[Sound data]
Next, an example in which the measurement data is sound data will be described with reference to FIGS. 13 to 15. 13 to 15 are diagrams showing examples of changes in sound data. 13 and 14 show examples of changes in sound data of the motor 25, reduction gear 26, drive shaft rotating section 27, rail 22, guide roller 33, chain 30, and wheel 231 as the measurement object 2. FIG. 15 shows an example of changes in the sound data of the drive shaft rotating part 27, the rail 22, the chain 30, and the wheel 231 as the measurement object 2.

[If the noise that occurs continuously during normal operation becomes louder]
The sound that is continuously generated during normal operation may become louder than during normal operation if some abnormality occurs. For example, the motor 25, reducer 26, drive shaft rotating section 27, chain 30, rail 22, wheel 231, etc. continuously generate some noise even during normal operation. However, for example, if the bearings connected to the motor 25, reducer 26, drive shaft rotating part 27, etc. wear out, or if the grease runs out, the resistance will increase and louder noise will be generated than during normal operation. This state will continue continuously. Furthermore, the chain 30, rail 22, wheel 231, etc. also generate loud noises, and this state continues. If the article conveyance equipment 1 continues to operate in this state, abnormalities such as failure of the article conveyance equipment 1 may occur. In this case, the control unit 13 reduces at least one of the acceleration and deceleration of the transport device 4 to suppress the generation of sound.

1101 in FIG. 13 shows an example of sound data during normal operation. As shown at 1101 in FIG. 13, during normal operation, the sound data has a volume below the threshold Th41 and above the threshold Th42, so it is not likely to cause abnormality such as a failure of the article conveyance equipment 1. However, if some abnormality occurs, the sound data exceeds the threshold Th41 and falls below the threshold Th42, for example as shown at 1102 in FIG. In the example shown at 1102 in FIG. 13, a state in which the value exceeds the threshold Th41 or falls below the threshold Th42 occurs after each time point from time t71 to t82. If the article conveyance equipment 1 continues to operate in this state, abnormalities such as failure of the article conveyance equipment 1 may occur.

Therefore, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the conveyance device 4 so that the sound data falls below the threshold Th41 and above the threshold Th42. Examples after control by the control unit 13 are shown in 1103 in FIG. 13 and 1104 in FIG. 14. In the examples shown in 1103 in FIG. 13 and 1104 in FIG. 14, the sound data is below the threshold Th41 and above the threshold Th42. Thereby, the load applied to the article conveyance equipment 1 when the conveyance device 4 is accelerated or decelerated can be reduced.

The method for determining the degree of reduction in acceleration or deceleration of the transport device 4 is not limited, and various methods can be considered. For example, the control unit 13 may determine the degree of reduction in acceleration or deceleration depending on the ratio of the sound to the threshold value. Specifically, the degree of reduction in acceleration or deceleration may be determined according to the ratio of the peak value PE of the sound during abnormality to the threshold Th41 shown at 1102 in FIG. 13. Furthermore, the degree of reduction in acceleration or deceleration may be determined based on the ratio of peak value PF to threshold Th42 instead of peak value PE.

Further, the control unit 13 may determine the degree of reduction in acceleration or deceleration so as to reduce the peak value of the sound by a predetermined percentage. Specifically, the degree of reduction in acceleration or deceleration may be determined so that the peak value PE of the sound during abnormality shown at 1102 in FIG. 13 is reduced by a predetermined percentage. Furthermore, the degree of reduction in acceleration or deceleration may be determined so that the peak value PF, instead of the peak value PE, decreases by a predetermined percentage.

If the acceleration and deceleration of the conveyance device 4 are controlled so that the peak value PE is lowered, the overall amplitude of the sound will be reduced, and the lower peak value PF will no longer fall below the threshold Th42. Similarly, if the acceleration and deceleration of the conveying device 4 are controlled so that the peak value PF is reduced, the overall amplitude of the sound is reduced, so that the upper peak value PE will no longer exceed the threshold Th41.

The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration zone and the deceleration of the conveying device 4 in the deceleration zone, or may reduce only the acceleration of the conveying device 4 in the acceleration zone, Only the deceleration of the conveyance device 4 in the deceleration section may be reduced.

Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may also reduce the speed of the transport device 4 when it moves at a constant speed.

When reducing the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of speed reduction according to the ratio of the peak value PE to the threshold Th41. Further, the control unit 13 may determine the degree of speed reduction so that the peak value PE decreases by a predetermined percentage. Furthermore, the degree of speed reduction may be determined so that the peak value PF, rather than the peak value PE, decreases by a predetermined percentage.

Note that the amplitude period of the sound data after the control by the control unit 13 is approximately the same as the amplitude period FR1 (1101 in FIG. 13) during normal operation, as shown as FR2 in 1103 in FIG. 13, or the amplitude period in FIG. As shown in 1104 as FR3, the amplitude period is longer than the amplitude period FR1 during normal operation.

[If the sound occurs periodically]
Also, if some abnormality occurs, a loud sound may be generated periodically. For example, if some resistance such as deformation occurs in a part of the side guide 32 (see FIG. 8), a loud sound is generated every time the guide roller 33 comes into contact with the resistance. Similarly, if some resistance such as deformation occurs in a portion of the drive shaft rotating section 27, loud noise will be generated every time the drive shaft rotating section 27 rotates. Further, if some resistance such as deformation occurs in a part of the rail 22, a loud noise will be generated every time the wheel 231 passes over the rail 22. Further, if some resistance such as deformation occurs in a portion of the wheel 231, a loud noise will be generated every time the wheel 231 rotates. In this way, if some resistance such as deformation occurs in a part, a loud sound will be generated periodically.

In an abnormal situation where a loud sound is generated periodically, for example, as shown at 1501 in FIG. and falls below the threshold Th62 at times t101B, t102B, t103B, t104B, t105B, and t106B. If the article conveyance equipment 1 continues to operate in this state, abnormalities such as failure of the article conveyance equipment 1 may occur.

Therefore, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the conveyance device 4 so that the sound generated in the measurement object 2 falls below the threshold Th61 and above the threshold Th62. An example after control by the control unit 13 is shown at 1502 in FIG. In the example shown at 1502 in FIG. 15, the sound is below the threshold Th61 at each time point t111A, t112A, t113A, t114A, t115A, and t116A, which are the upper peaks of the sound, and the sound is at the lower peak of the sound. At certain times t111B, t112B, t113B, t114B, t115B, and t116B, the threshold value Th62 or more is reached. Thereby, the load applied to the article conveyance equipment 1 when the conveyance device 4 is accelerated or decelerated can be reduced.

The method for determining the degree of reduction in acceleration or deceleration of the transport device 4 is not limited, and various methods can be considered. For example, the control unit 13 may determine the degree of reduction in acceleration or deceleration depending on the ratio of the sound to the threshold value. Specifically, the degree of reduction in acceleration or deceleration may be determined according to the ratio of the peak value PJ of the sound during abnormality to the threshold Th61 shown at 1501 in FIG. 15. Furthermore, the degree of reduction in acceleration or deceleration may be determined based on the ratio of peak value PK to threshold value Th62 instead of peak value PJ.

Further, the control unit 13 may determine the degree of reduction in acceleration or deceleration so as to lower the temperature by a predetermined percentage. Specifically, the degree of reduction in acceleration or deceleration may be determined so that the peak value PJ of the sound during abnormality shown at 1501 in FIG. 15 is reduced by a predetermined percentage. Furthermore, the degree of reduction in acceleration or deceleration may be determined so that the peak value PK, rather than the peak value PJ, decreases by a predetermined percentage.

If the acceleration and deceleration of the conveying device 4 are controlled so that the peak value PJ decreases, the overall amplitude of the sound becomes smaller, so that the lower peak value PK will no longer fall below the threshold Th62. Similarly, if the acceleration and deceleration of the conveying device 4 are controlled so that the peak value PK decreases, the overall amplitude of the sound becomes smaller, so that the upper peak value PJ also no longer exceeds the threshold Th61.

The control unit 13 may reduce both the acceleration of the conveying device 4 in the acceleration zone and the deceleration of the conveying device 4 in the deceleration zone, or may reduce only the acceleration of the conveying device 4 in the acceleration zone, Only the deceleration of the conveyance device 4 in the deceleration section may be reduced.

Furthermore, in addition to reducing the acceleration or deceleration of the transport device 4, the control unit 13 may also reduce the speed of the transport device 4 when it moves at a constant speed.

When reducing the speed of the transport device 4 during constant speed movement, the control unit 13 may determine the degree of speed reduction according to the ratio of the peak value PJ to the threshold Th61. Note that the degree of speed reduction may be determined based on the ratio of the peak value PK to the threshold Th62 instead of the peak value PJ. Further, the control unit 13 may determine the degree of speed reduction so that the peak value PJ decreases by a predetermined percentage. Note that the degree of speed reduction may be determined so that the peak value PK, instead of the peak value PJ, decreases by a predetermined percentage.

In addition, although the case where a certain measurement data exceeds a threshold value was demonstrated above, it is not limited to this. The control unit 13 may reduce at least one of the acceleration and deceleration of the transport device 4 when the plurality of types of measurement data exceed a threshold value. For example, when the current supplied to the article conveyance equipment 1 and the temperature of the reducer 26 exceed their respective thresholds, the control unit 13 reduces at least one of the acceleration and deceleration of the conveyance device 4. It may be something. Thereby, the transport device 4 can be controlled when there is a higher possibility of causing a failure.

Moreover, the configuration has been described above in which the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the transport device 4 when the measurement data exceeds the threshold value. The control unit 13 performs control to reduce at least one of the acceleration and deceleration of the transport device 4 not only when the measured data exceeds the threshold value but also when the difference between the measured data and the threshold value is within a predetermined value. You may go. For example, in the example shown at 802 in FIG. Control may be performed to reduce at least one of the decelerations. This makes it possible to avoid abnormalities before the current value reaches the threshold Th11.

Note that the acceleration and deceleration adjustment described above may be performed as follows. The control unit 13 constantly monitors the peak value of the measurement data, and when the peak value exceeds a threshold value, reduces at least one of the acceleration and deceleration by a small amount. After that, if the peak value still exceeds the threshold value, at least one of the acceleration and deceleration is further reduced a little. This is repeated until the peak value of the measurement data does not exceed the threshold, at least one of the acceleration and deceleration continues to decrease slightly, and when the peak value of the measurement data no longer exceeds the threshold, the acceleration and deceleration decrease. Finish the adjustment.

[Processing flow]
Next, with reference to FIG. 16, the flow of processing in the transport control device 10 will be described. FIG. 16 is a flowchart showing an example of the processing flow of the transport control device 10.

As shown in FIG. 16, first, the acquisition unit 11 of the conveyance control device 10 acquires measurement data from the sensor 3 installed at or near the article conveyance facility 1 (S101, acquisition step). Next, the comparison unit 12 compares the acquired measurement data with a threshold value and determines whether at least one type of measurement data exceeds the threshold value or the difference from the threshold value is within a predetermined value (S102 , comparison step).

Then, when the measurement data exceeds the threshold value or the difference from the threshold value is within a predetermined value, the control unit 13 performs control to reduce at least one of the acceleration and deceleration of the transport device 4 (S103 , control step).

The above is the flow of processing in the transport control device 10.

〔summary〕
As described above, the conveyance control device 10 according to the present embodiment acquires one or more types of measurement data measured when the conveyance device 4 conveys an article in the article conveyance equipment 1 including the conveyance device 4. The comparison unit 12 compares the acquired measurement data with a threshold set for each measurement data, and a comparison unit 12 compares the acquired measurement data with a threshold set for each measurement data. In this case, the controller 13 includes a control unit 13 that controls to reduce at least one of the acceleration and deceleration of the transport device 4.

Generally, loads such as mechanical resistance applied to the article conveying equipment 1 during acceleration and deceleration of the conveying device 4 are often relatively high. A situation in which this type of load is repeatedly applied each time an article is transported may lead to abnormalities such as failure of the article transportation equipment 1.

According to the above configuration, when at least one type of measurement data exceeds the threshold value, or when the difference from the threshold value is within a predetermined value, at least one of the acceleration and deceleration of the transport device 4 is reduced. Therefore, the load applied to the article conveyance equipment 1 when the conveyance device 4 is accelerated or decelerated can be reduced.

Thereby, compared to before the load reduction, the time when the article conveyance equipment 1 becomes abnormal can be postponed, and as a result, the operation of the article conveyance equipment 1 can be continued.

[Modified example]
[Example of implementation using software]
The function of the conveyance control device 10 (hereinafter referred to as "device") is a program for making a computer function as the device, and each control block of the device (acquisition unit 11, comparison unit 12, control unit 13) This can be realized by a program for making a computer function as such.

In this case, the device includes a computer having at least one control device (for example, a processor) and at least one storage device (for example, a memory) as hardware for executing the program. By executing the above program using this control device and storage device, each function described in each of the above embodiments is realized.

The above program may be recorded on one or more computer-readable recording media instead of temporary. This recording medium may or may not be included in the above device. In the latter case, the program may be supplied to the device via any transmission medium, wired or wireless.

Further, part or all of the functions of each of the control blocks described above can also be realized by a logic circuit. For example, an integrated circuit in which a logic circuit functioning as each of the control blocks described above is formed is also included in the scope of the present invention. In addition to this, it is also possible to realize the functions of each of the control blocks described above using, for example, a quantum computer.

Further, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI may operate on the control device, or may operate on another device (for example, an edge computer or a cloud server).

The present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. are also included within the technical scope of the present invention. Furthermore, new technical features can be formed by combining the technical means disclosed in each embodiment.

1 Article conveyance equipment 2 Measurement target 3 Sensor 4 Conveyance device 10 Conveyance control device 11 Acquisition section 12 Comparison section 13 Control section 21 Backup roller 22 Rail 23 Dolly 231 Wheel 232 Load bar 24 Drive roller 25 Motor 26 Reducer 27 Drive shaft rotating section 28 Drive device 29 Cart 30 Chain 31 Cart 32 Side guide 33 Guide roller 34 Travel wheel

Claims (11)

an acquisition unit that acquires one or more types of measurement data measured when the conveyance device conveys an article in article conveyance equipment including a conveyance device;
a comparison unit that compares the acquired measurement data with a threshold value set for each of the measurement data;
A control unit that controls to reduce at least one of acceleration and deceleration of the transport device when at least one type of the measurement data exceeds the threshold value or when the difference from the threshold value is within a predetermined value. A conveyance control device comprising: The transport control device according to claim 1, wherein the control unit controls the transport device to reduce the acceleration in a section from a stopped state to a constant speed movement state. The conveyance control device according to claim 1 or 2, wherein the control unit controls the conveyance device to reduce the deceleration in a section from a constant speed moving state to a stopped state. The conveyance control device according to any one of claims 1 to 3, wherein the control unit determines the degree of decrease according to a ratio of a peak value of the measurement data to the threshold value. 4. The conveyance control device according to claim 1, wherein the control unit determines the degree of decrease so that the peak value of the measurement data is decreased by a predetermined percentage. According to any one of claims 1 to 5, the control unit further reduces the speed of the transport device during constant speed movement when at least one type of the acquired measurement data exceeds the threshold value. transport control device. The conveyance control device according to claim 6, wherein the control unit determines the degree of decrease in the speed according to a ratio of a peak value of the measurement data to the threshold value. The conveyance control device according to claim 6, wherein the control unit determines the degree of decrease in the speed so as to decrease the peak value of the measurement data by a predetermined percentage. The measurement data is
data indicating a measurement target of the measurement data or vibration in the vicinity of the measurement target;
data indicating the current supplied to the measurement target;
data indicating the temperature of the measurement target or the vicinity of the measurement target, and
The conveyance control device according to any one of claims 1 to 8, comprising at least one type of data indicating sound collected in the vicinity of the measurement target. The measurement target of the measurement data is
A motor, a speed reducer, a drive shaft rotating section, a rail, a guide roller, and a chain provided on the conveyance path of the conveyance device, and
wheels of the conveyance device;
The transport control device according to claim 9, which is at least one of the following. an acquisition step of acquiring one or more types of measurement data measured when the conveyance device conveys the article in article conveyance equipment including the conveyance device;
a comparison step of comparing the acquired measurement data with a threshold value set for each of the measurement data;
a control step of controlling at least one of acceleration and deceleration of the transport device to decrease when at least one type of the measurement data exceeds the threshold value or when the difference from the threshold value is within a predetermined value; A method for controlling a conveyance control device, comprising:

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