JP2710842B2 - Goods transport line - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an article transport line, and more particularly, to an improvement in a connection between transport lines having different driving methods.

(Conventional technology) Conventionally, as a transport line for articles, there is a direct transport type direct transport line such as an overhead type trolley conveyor that drives a hanger by a traction force via a wire by a motor, and the article supported by the hanger. Are sequentially fed (conveyed) to a plurality of work stations.

Further, as a transport line for articles different from those described above, for example, as disclosed in JP-A-63-140603, an electromagnetically driven linear motor transport line including a linear motor coil and a reaction member is used. is there. As shown in FIG. 16, this linear motor transfer line fixes one of the linear motor coils b, b... And the reaction member c (the linear motor coils b, b,. Are arranged along a roller conveyer e composed of a plurality of rollers d, d,..., And the other (reaction member c in the figure) is attached as a movable element to a pallet f to be conveyed via an attachment member g. By the thrust F generated on the mover (reaction member c) by the electromagnetic action between the linear motor coils b, b,... And the reaction member c, the pallet f and the above pallet f are moved through the mover (reaction member c). It is configured to sequentially forward the placed articles to a plurality of work stations. In this case, according to the linear motor transport line, the pallet f is quickly and quietly transported, which is advantageous from the viewpoint of improving production efficiency and improving the working environment in a transport line (production line) of a production factory. Becomes

(Problems to be Solved by the Invention) By the way, due to facility costs, etc., the direct transport line and the linear motor transport line coexist, and a plurality of objects to be transported from the direct transport line are transported by the linear motor transport line. There is a transfer line for articles which is designed to feed the articles to the work station. In this case, as described above, since the driving method of the transferred object is different between the direct transfer line and the linear motor transfer line, for example, due to the power consumption and the like, the transfer method may be applied to the transfer objects at a plurality of work stations on the linear motor transfer line. When the objects to be conveyed at each work station are individually started (sequentially fed) with a time difference, the objects to be conveyed sequentially from the direct conveyance line are sequentially activated in the connection portion with the linear motor conveyance line. There is a problem that you will accumulate while waiting for.

The present invention has been made in view of such a point, and an object of the present invention is to improve a connecting portion between a direct transfer line and a linear motor transfer line and to connect both lines to form a linear motor transfer line. The object to be conveyed from the direct conveyance line is effectively stored even at the time of individual activation.

(Means for Solving the Problems) In order to achieve the above object, a means for solving the problem of the present invention according to claim 1 is that an object to be conveyed, which has been conveyed by a direct drive type direct transfer line, is transferred by an electromagnetic drive type linear motor transfer line. Assuming a transport line for articles that transports the transported objects to multiple work stations in sequence, the transported object from the direct transport line is temporarily connected to the connection between the direct transport line and the linear motor transport line. In this configuration, a buffer line that can be stored is provided.

Here, in the invention of claim 2, in the above-mentioned claim 1, the speed control characteristic of the transferred object between the work stations on the linear motor transfer line is a characteristic comprising an acceleration region, a constant speed region, and a deceleration region. . Further, according to the third aspect of the present invention, in addition to the above-described second aspect, when the transferred object enters the constant speed range in one of the work stations, the transferred object is transferred to the other work station. Is set to enter the acceleration range. In the invention according to claim 4, the buffer line according to claims 1 to 3 is arranged above the direct transfer line and the linear motor transfer line.

(Operation) With the above configuration, in the inventions of claims 1 to 4, the direct transfer line and the linear motor transfer line are connected via the buffer line. Even in the case of a linear motor transport line that individually starts (progresses) by giving a time lag to each of the transported objects, the transported objects sequentially transported from the direct transport line are in the order in which the linear motor transport line starts up at the connection portion with the linear motor transport line. Are stored in the buffer line one after another without waiting.

Furthermore, according to the third aspect of the present invention, the overlap between accelerations that consumes the largest amount of energy is avoided, so that the total amount of energy consumption of the linear motor can be reduced.
Further, according to the invention of claim 4, it is possible to save space on the plane of the transport line.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 2 shows an article conveying line A as an embodiment of the present invention.
Is applied to a vehicle assembly line. The conveying line A is the overhead-type trolley conveyor 1 of the hanger H (conveyed object), as conveyed in a state of mounting the body B thereon to the first work station ST _1, the wire by a motor (not shown) Drive system direct transfer line D that drives hanger H by traction force via
And a pallet P as a transferred object, and a body B
As described later, the linear motor coil 40 is transported between adjacent work stations with the
And a linear motor transport line L of an electromagnetic drive type for moving (driving) the reaction member 44 (pallet P) by a thrust generated by an electromagnetic action between the linear motor transport line L.

And the first working station ST _1, between the Aitonaru the second work station ST ₂ to the first work station ST _1, both said working station ST _1, the guide rail 2 for connecting the ST ₂ is laid And a carriage 3 on the guide rail 2.
Are movably supported. In addition, the cart 3 includes:
A body supporting portion 3a for supporting the body B;
And a lift mechanism 3b for raising and lowering 3a. Then, the body B on the hanger H conveyed by the trolley conveyor 1 to the first work station ST _1, in the first working station ST _1, is transferred to the body supporting portion 3a of the carriage 3. At the time of the transfer, when the body B supported by the hanger H of the trolley conveyor 1 reaches above the bogie 3, the body supporting portion 3a of the bogie 3 is raised by the lift mechanism 3b, and the hanger of the trolley conveyor 1 is moved. After contacting the lower surface of the body B supported by the H, the hanger H of the trolley conveyor 1 is detached from the body B by receiving the body B floating slightly from the hanger H of the trolley conveyor 1, and Is supported by the body support 3a. The body B is connected to the body support 3a.
Cart 3 that is supported by from the first working station ST ₁ to the second work station ST ₂ moves according to the guide rail 2, the body B is conveyed to the second work station ST ₂ by carriage 3 with it.

In addition, as shown in FIGS.
The work stations ST _2, a pair of lifter 11a for receiving the body B from the carriage 3, 11b are arranged by sandwiching the guide rail 2. In addition, the second work station ST ₂
At the four corners (obliquely forward and backward left and right of the body B supported by the respective lifters 11a and 11b) and supporting pillars 12a to 12d
Are provided, and the columns 12a to 12d are provided with support arms 13a to 13d extending in diagonal directions, respectively. At the tips of the support arms 13a to 13d, that is, at positions obliquely above the body B supported by the lifters 11a and 11b, four upper visual sensors 14a to 14d are arranged. Four lower visual sensors 15a to 15d are arranged at positions obliquely below the body B supported by 11a and 11b. The four information visual sensors 14a to 14d and the four lower visual sensors 15a to 15d are constituted by, for example, small video cameras using a CCD (charge coupled device) image sensor. Further, the right and left support columns 12a, 12a and 12b of the guide rail 2 (FIG. 3).
A first fixed bar 16a extending along the guide rail 2 is supported by b, and supports 12c, 12d on the left and right sides (upper side in FIG. 3) of the guide rail 2 are provided along the guide rail 2. extending and second fixed bar 16b is supported, both said fixed bar 16a, 16b is extended respectively to the third work station ST _3. A pair of elevating arms 17a, 17b (only those on the first fixed bar 16a side are shown) are attached to the fixed bars 16a, 16b.

The lifter 11a (only one of which is described because it has the same structure) has a movable support portion 21 for supporting the body B, and the movable support portion 21 is moved in a direction along the guide rail 2 and in a direction orthogonal thereto. Motors 22a and 22 to be raised and lowered
b and a drive mechanism section 24 having a lifting / lowering cylinder 23. In addition, the lifting arms 17a and 17b have
Elevating cylinder parts 25a, 25b are provided, and the respective elevating cylinder parts 25a, 25b are movably engaged with the first fixed bar 16a via engaging members 26a, 26b. . Further, the lifting arms 17a, 17b are provided with engaging pins 27a, 27b extending from their lower ends, respectively.

In this case, the body B on the dolly 3 conveyed to the second work station ST ₂ is in accordance with the movement of the carriage 3, as shown in the third diagram of a virtual line (chain line), its central portion lifter
When the vehicle reaches the position above 11a, 11b, the truck 3 is stopped, and the body supporting portion 3a of the truck 3 is lowered by the lift mechanism 3b, and the body B on the vehicle body supporting portion 3a is moved.
However, as shown by the solid line in FIG. 2 and the phantom line (dashed line) in FIG.
It is placed in a state where it is in contact with. The carriage 3, the body B is placed on the movable support 21 is returned to the first working station ST ₁ according to the guide rail 2.

Next, the position and orientation of the lifters 11a and 11b are detected by the upper visual sensors 14a to 14d and the lower visual sensors 15a to 15d.
The drive mechanism 24 in the lifters 11a, 11b is operated by a controller (not shown) that controls the operation of the motors 22a, 22b and the lifting / lowering cylinder 23 based on the detection outputs from the 4d and the lower visual sensors 15a to 15d. And
As a result, the movable support portion 21 is displaced or moved up and down in the direction along or along the guide rail 2,
The position and posture of the body placed on the movable support 21
It is adjusted to match the body reference position and the body reference attitude in the second work station ST _2. Then, as a result of such adjustment, when the body B takes an appropriate position and posture, the lifting arms 17a and 17b are raised by the operation of the lifting cylinder 23, and the tips of the lifting arms 17a and 17b are engaged with the body B. The body B is supported, and the body B is lifted from the movable support 21 of the lifters 11a and 11b. At this time, the engagement pins 27a and 27b of the lifting arms 17a and 17b are engaged with the positioning holes Bh formed in the body B. Thus supporting the body B, the lifter 11a, the lifting arm 17a has been raised from the movable support 21 in 11b, 17b is the second work station ST ₂ from the third according to the first fixing bar 16a by a predetermined driving means It is conveyed to the working station ST _3.

Furthermore, as also shown in FIG. 5-FIG. 7, above the third work station ST _3, the engine unit 31, a front suspension unit 32, various parts body B such as the rear suspension unit 33 It is arranged to be attached to. Further, above the third work station ST _3, vertically elastically deformable plurality of columnar body support parts 34, ... pallet P with a rotation in the linear motor conveyor line L on both sides of the support member 35, 35 It is supported by a roller conveyor 37 composed of a large number of rollers 36, 36,. And the above engine unit 3
1, after various components such as the front suspension unit 32 and the rear suspension unit 33 are attached to the body B, a pin member 34a provided at the tip of each of the columnar body support portions 34 is attached to the lifting arm 17a. , 17b (indicated by the alternate long and short dash line in FIG. 5) to engage with the body B,
The pallet P (body B) is conveyed while sliding on the roller conveyor 37.

Inside the two support members 35, 35, there are two stator rows 41, each of which includes a large number of linear motor coils 40, 40,... As a stator formed by winding an excitation coil around a comb-shaped iron core, for example. Four
One is juxtaposed. On both sides of each stator row 41, two guide rails 42, 42 extending in the transport direction are arranged,
A plate member 43 is movably engaged with the guide rails 42, 42, and the plate member 43
A reaction member 434 as a mover formed by laminating iron and aluminum in a plate shape, for example, is integrally attached to the lower surface of. Therefore, the reaction member 44 is provided movably along the stator row 41 under the guide of the guide rail 42. The engagement between the guide rail 42 and the plate member 43 does not restrict the upward displacement of the plate member 43.

The plate member 43 is attached to the back surface of the pallet P via an attachment member 45. Thus, the reaction member 44 provided in each of the stator rows 41 is moved along the respective stator rows 41 by a thrust generated by an exciting action between each of the stator rows 41 and each of the linear motor coils 40. The pallet P on which the body B is mounted is moved to the third work station ST _{3 in the} downstream direction (the right side in FIG. 5) in the transport direction.
It is configured to carry the paper between successive work stations sequentially in a fixed time. The linear motor coil 40 and the reaction member 44
The linear motor 45 is provided at a ratio of one for each of the third to sixth work stations on the linear motor transport line L.

FIG. 8 shows a block configuration of a control unit for controlling the linear motor 45.

The third to sixth working station ST ₃ ~ST ₆ on the linear motor conveyor line L, the linear motor coil 40,40,40
Are disposed, and each linear motor coil 4
The phase control for excitation of the motors 0, 40, 40 is performed by the linear motor controllers 52A, 52B, 52C via the transfer control units (amplifiers) 51, 51, 51.

The third to linear motor controller 52A of the sixth work station ST ₃ ~ST _6, 52B, 52C are linked to a linear motor conveyor line controller 53, the linear motor conveyor line controller 53, the third to sixth work station ST
_{3 to 6} while monitoring the state of the pallet P in ST6
Working station ST ₃ ~ST ₆ of the linear motor 45 of the speed control of the linear motor controller 52A, 52B, and performs through 52C. That is, when the forward pallet P mounted with the body B from the third work station ST ₃ to the sixth work station ST ₆ by the linear motor 45, between the work station adjacent is one, for example a third Figure 8 in between the work stations ST ₃ and the fourth work station ST _4, it is excited by each linear motor coils 40 under the control of the linear motor conveyor line controller 53, between the linear motor coil 40 and the reaction member 44 The pallet P on which the body B is placed is transported between the work stations at a predetermined speed v that changes with time as shown in FIG. 9 by the thrust generated on the reaction member 44 by the electromagnetic action. That is, the speed change is an acceleration zone Z _1, and Teihayaiki Z _2, consisting of the deceleration zone Z ₃ Prefecture.

54a, 54b, 54c and 54d are speed sensors (for example, pulse generators) for detecting a moving speed of the pallets P, that is, a conveying speed when the pallets P are conveyed to a subsequent work station. Speed signals from 54b, 54c, 45d are output from linear motor controllers 52A, 52B, 52C.
To be entered.

Thus, for example, control by the linear motor controller 52B of the fourth work station ST ₄ is performed as shown in Figure 10. Incidentally, this control starts when the third work station ST ₃ enters the constant speed area Z ₂ through the constant-speed point (see FIG. 9).

First, when started, to the linear motor coil 40,40,40 fifth working station ST _5, and outputs the positive-phase full excitation signal for acceleration at the time of startup (step
From S ₁ ), speed control for accelerating the pallet P is performed (step S ₂ ). Thus, the acceleration control means 52a for performing the acceleration for transporting the articles in the constant speed range of the article transport of the work station at the front position is configured.

Thereafter, in step S _3, the fourth work station ST ₄ whether became constant speed starting point is determined. The determination as to whether or not the constant speed start point has been reached is made based on the output of the low speed start pulse from the linear motor controller 52A.

Thus, unless become constant speed starting point, and continue with the speed control in step S _2, if the constant speed starting point, the procedure proceeds to step S _4, together to perform the constant speed travel in the pallet P, the linear A low-speed start pulse is output to the motor controller 52B. In this manner, the constant speed region detecting means 52b for detecting the constant speed region of the article conveyance is configured.

Determines Then, after the constant-speed running, whether it is a deceleration start point (Step S _5). Thus, if the deceleration start point, while continuing the constant speed running process returns to step S _4, if the deceleration start point, the flow proceeds to step S _6, reverse phase as the pallet P stops at a predetermined stop point Deceleration control is performed by the excitation of, and the operation is terminated after stopping.

By configuring as above, as shown in FIG. 11, for example in the fourth work station ST _4, becomes a constant-speed running starting point U ₁ for a transfer at the third work station ST ₃ the front position, Acceleration for transporting the pallet is started, so that the acceleration area of the third work station ST _{3 at} the front position and the acceleration area of the subsequent fourth work station ST ₄ are prevented from being overlapped. Become. Similarly, at a constant-speed running starting point U ₂ for conveyance in the fourth work station ST _4, the fifth work station
Now starts acceleration of the pallet P in ST _5, becomes the constant speed running starting point U ₃ for transporting the fifth work station ST _5, to start the acceleration of the pallet P in the sixth work station ST ₆ Become. For this reason, as the linear motor transport line L, each work station
ST ₃ ~ST transport operation some synchronization in ₆ is performed (separately synchronized), the overlap of the acceleration zone between the most energy consumption increases are avoided, duplication of velocity reduction zone and between deceleration zone It is avoided as much as possible, and the total amount of energy consumption is significantly reduced as compared with the case where the operations at each work station are completely synchronized (simultaneous synchronization). Specifically, the current consumption when the cycle time is 50 sec. Is 100 A (ampere) (see FIG. 12 and FIG. 13). However, in the case of perfect synchronization, the cycle time is 48 sec. (See FIGS. 14 and 15). In the case of partial synchronization according to the present invention, the current consumption is significantly smaller than in the case of complete synchronization.
The above numerical values are for five work stations.

As shown in FIG. 1, the direct transfer line D is connected to the first and second work stations ST ₁ and ST _2.
The connecting portion of the third work station ST ₃ on the linear motor conveyor line L via the hanger H is temporarily storable buffer lines BA from the direct transport line D is provided. The buffer line BA is disposed above the direct transfer line D and the linear motor transfer line L, so that space on the plane of the transfer line A is saved.

Further, in the second work station ST _2, the lifting arm 17a as described above, by a predetermined driving means 17b first
Fixing conveyance to the third work station ST ₃ in accordance with the bar 16a causes effected by a command line controller 61 which receives the command signal from the linear motor conveyor line controller 53.

A direct transport line D ′ different from the direct transport line D is connected to the upstream end of the linear motor transport line L in the transport direction.

Therefore, in the above embodiment, the third work station on the linear motor transfer line L via the direct transfer line D and the first and second work stations ST ₁ , ST ₂
ST ₃ is connected via a buffer line BA, so the linear motor transfer line L
Pallets P (Body B) of multiple work stations above
, The pallets P successively conveyed from the direct conveyance line D via the first and second work stations ST ₁ and ST ₂ even if the linear motor conveyance line L is individually activated (sequentially fed) by giving time to the pallets P In addition, at the connection with the linear motor transport line L, there is no accumulation while waiting for the order of activation, and it is possible to effectively store sequentially in the buffer line BA.

The present invention is not limited to the above embodiment,
Other various modifications are included. For example, in the above embodiment, the present invention is applied to the case where the linear motor coil 10 is used as the stator and the linear motor 23 is used as the reaction member 14 as the mover. The present invention can be similarly applied to a case where the linear motor 23 is formed by providing the reaction member 14 along the transport line and forming the stator while the movable member is provided on the plate member 13 side.

Further, in the above-described embodiment, the case where the transport line A is a vehicle assembly line has been described. However, the present invention is not limited to this, and it is needless to say that the present invention can be applied to the case where another transported object is transported.

(Effects of the Invention) As described above, according to the article transport line of the first to fourth aspects of the present invention, the direct transport line and the linear motor transport line are connected by the buffer line. Even in the case of a linear motor transport line that individually starts the work objects to be transported with a time lag, even if the linear motor transport line is sequentially conveyed from the direct transport line at the connection with the linear motor transport line and waits for the order of sequential activation. The transferred object can be effectively stored in the buffer line.

[Brief description of the drawings]

1 to 15 show an embodiment of the present invention. FIG. 1 is a schematic configuration diagram of the entire transport line, FIG. 2 is a schematic side view near a connecting portion of the transport line, and FIG. FIG. 4 is a side view according to FIG. 3, and FIG.
FIG. 6 is a side view of the work station, FIG. 6 is a plan view according to FIG. 5, FIG. 7 is a sectional view taken along line VII-VII of FIG.
The figure is a block diagram of the control unit that controls the linear motor,
FIG. 9 is a diagram showing the speed change of the pallet by the linear motor, FIG. 10 is a flowchart of the control by the linear motor, FIG. 11 is a diagram showing the relationship of the speed change at each work station on the linear motor transport line. Fig. 12 shows 11
FIG. 13 is a diagram showing a change in current consumption for the five work stations shown in FIG. 13, and FIG. 13 is a diagram showing a change in current consumption in the entire linear motor transport line. FIG. 14 is a diagram showing a change in current consumption when the transfer operation is completely synchronized for the five work stations on the linear motor transfer line, and FIG. 15 is a linear motor transfer line when the transfer operation is completely synchronized. FIG. 7 is a diagram showing a change in current consumption as a whole. FIG. 16 is a diagram corresponding to FIG. 5 showing a conventional example. A: Transfer line H: Hanger D: Direct transfer line P: Pallet L: Linear motor transfer line BA: Buffer line ST _{1 to} ST _6: First to sixth work stations

Claims (4)

(57) [Claims] 1. An article transport line in which an object transported by a direct drive type direct transport line is sequentially fed to a plurality of work stations by an electromagnetic drive type linear motor transport line. A transfer line for articles, wherein a buffer line capable of temporarily storing an article to be transferred from the direct transfer line is provided at a connection portion between the direct transfer line and the linear motor transfer line. 2. The article transfer line according to claim 1, wherein the speed control characteristic of the transferred object between the work stations on the linear motor transfer line is a characteristic including an acceleration region, a constant speed region, and a deceleration region. 3. Between predetermined work stations, when an object to be conveyed enters a constant speed region at one work station, the object is set to enter an acceleration region at another work station. 3. The article conveying line according to claim 2, wherein: 4. The article transfer line according to claim 1, wherein the buffer line is disposed above the direct transfer line and the linear motor transfer line.