JP7252384B1 - Conveyor - Google Patents

Abstract

A conveying apparatus is provided in which highly reliable communication is realized in a communication apparatus provided on a traveling body. A conveying device includes a frame body 20 extending in the Z-axis direction, a running body 31 supported by the frame body 20 and transporting a work by traveling in the Z-axis direction, and a wireless and a first communication device 71 capable of communicating data by. The frame body 20 is provided with a concave portion 23 extending in the Z-axis direction while forming a concave shape. The first communication device 71 is arranged in the recess 23 . [Selection drawing] Fig. 4

Description

The present invention relates to a conveying device.

For example, Japanese Patent Laying-Open No. 2016-190306 (Patent Document 1) discloses a loader hand for gripping a work, and a loader mechanism for moving the loader hand between a work storage section and a work table of a machine tool. A work loader apparatus is disclosed comprising:

JP 2016-190306 A

2. Description of the Related Art As disclosed in the above-mentioned Patent Literature 1, a transport device for transporting an object to be transported such as a work is known. In such a conveying apparatus, a traveling body that travels in one direction along with conveying an object to be conveyed may be provided with a communication apparatus for wirelessly communicating data. In this case, if an interfering object such as a person enters the path of communication in the communication device, the reliability of communication may deteriorate.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems, and to provide a conveying apparatus in which highly reliable communication is realized in a communication apparatus provided on a traveling body.

A conveying apparatus according to one aspect of the present invention includes a frame body extending in a first direction, a running body supported by the frame body and configured to transport an object to be transported by traveling in the first direction, and and a first communication device capable of wirelessly communicating data. The frame body is provided with a concave portion extending in the first direction while forming a concave shape. The first communication device is arranged in the recess. The data consists of I/F signals between the on-board control panel mounted on the vehicle and the ground control panel installed on the floor where the transport equipment is installed, and the display signal of the screen provided on the ground control panel. , and at least one of a transport device status monitor signal.
A conveying apparatus according to another aspect of the present invention includes a frame body extending in a first direction, a running body supported by the frame body and configured to transport an object to be transported by running in the first direction, and and a first communication device capable of wirelessly communicating data. The frame body is provided with a concave portion extending in the first direction while forming a concave shape. The first communication device is arranged in the recess.

According to the conveying device configured in this manner, since the first communication device is arranged in the recess provided in the frame body, it is difficult for an interfering object to enter the communication path of the first communication device. Thereby, the reliability of communication in the first communication device can be improved.

Further, preferably, the conveying device further includes an overhead wire provided on the frame body and extending in the first direction, and a current collector provided on the traveling body and supplied with electric power from the overhead wire. An overhead wire and a current collector are placed in the recess.

According to the conveying apparatus configured in this manner, since the overhead wire and the current collector are arranged in the concave portion, it is difficult for an interfering object to enter the power supply point from the overhead wire to the current collector. Thereby, the reliability of power supply from the overhead wire to the current collector can be improved.

Further, preferably, the frame body has a first facing surface and has a first frame body extending in the first direction and a second facing surface facing the first facing surface in a second direction perpendicular to the first direction. and a second frame body extending in the first direction. The recess consists of the space between the first facing surface and the second facing surface.

According to the conveying device configured in this manner, the first communication device can be arranged using the space between the first opposing surface and the second opposing surface that are arranged in parallel.

Further preferably, the frame body further includes a connection frame connected to the first opposing surface and the second opposing surface and connecting the first frame body and the second frame body. The first communication device is arranged so as not to overlap the connection frame when viewed in the first direction.

According to the conveying device configured in this manner, it is possible to prevent the first communication device from interfering with the connection frame when the traveling body travels in the first direction.

Moreover, preferably, the transport device further includes a second communication device fixed to the frame body and capable of wirelessly communicating data with the first communication device. The second communication device is arranged in the recess at a position remote from the first communication device in the first direction.

According to the conveying device configured in this manner, since both the first communication device and the second communication device are arranged in the concave portion, an obstacle is not placed on the communication path between the first communication device and the second communication device. difficult to invade. This makes it possible to improve the reliability of communication between the first communication device and the second communication device.

Also preferably, the frame body extends in a first direction parallel to the horizontal direction. The conveying device further includes a plurality of column members erected on the floor and supporting the frame body at a position spaced apart from the floor.

According to the conveying apparatus configured in this way, since the frame body is arranged at a position separated from the floor surface, it becomes more difficult for an interfering object to enter the communication path of the first communication apparatus.

Further, preferably, the running body is provided so as to close the opening formed by the recess in the frame body.

According to the conveying device configured in this way, the opening of the recess is blocked by the traveling body, so that it is even more difficult for an interfering object to enter the communication path of the first communication device.

As described above, according to the present invention, it is possible to provide a conveying apparatus in which highly reliable communication is realized in a communication apparatus provided on a traveling body.

1 is a front view showing a work processing system using a carrier device according to an embodiment of the present invention; FIG. 2 is a block diagram showing the system configuration of the work machining system in FIG. 1; FIG. FIG. 2 is a cross-sectional view showing the frame body as viewed in the arrow direction on line III-III in FIG. 1; FIG. 2 is a perspective view partially showing the conveying device in FIG. 1; FIG. 5 is a front view showing the conveying device in FIG. 4; FIG. 5 is a side view showing the conveying device in FIG. 4; FIG. 6 is a top view showing the conveying device in FIG. 5; FIG. 7 is a side view showing an enlarged area surrounded by a two-dot chain line VIII in FIG. 6; FIG. 5 is a cross-sectional view showing the conveying device as viewed in the direction of arrows on line IX-IX in FIG. 4;

An embodiment of the invention will be described with reference to the drawings. In the drawings referred to below, the same or corresponding members are given the same numbers.

FIG. 1 is a front view showing a workpiece machining system using a carrier device according to an embodiment of the invention. FIG. 2 is a block diagram showing the system configuration of the workpiece machining system in FIG.

In this specification, for the sake of convenience in explaining the structures of the work processing system and the transfer device, the axis extending in one direction parallel to the horizontal direction is referred to as "Z-axis", and the axis extending in the vertical direction is referred to as "X-axis". In other words, the axis parallel to the horizontal direction and perpendicular to the Z-axis is called the "Y-axis". In FIG. 1, the right direction along the Z-axis direction corresponds to the "+Z-axis direction", and the left direction along the Z-axis direction corresponds to the "-Z-axis direction". The upward direction corresponds to the “+X axis direction” and the downward direction corresponds to the “−X axis direction”. In FIG. 1, the front direction of the paper along the Y-axis direction corresponds to the "+Y-axis direction", and the back direction of the paper along the Y-axis direction corresponds to the "-Y-axis direction".

Referring to FIGS. 1 and 2, first, the overall configuration of workpiece machining system 100 will be described. The work processing system 100 includes a plurality of processing machines 200 (200A, 200B, 200C), a work place 210, and a transport device 10.

A plurality of processing machines 200 (200A, 200B, 200C) are provided at intervals in the Z-axis direction.

The processing machine 200 performs a workpiece removal process (SM (subtractive manufacturing)) or a workpiece addition process (AM (additive manufacturing)) to a metal workpiece to obtain a desired shape. It is a machine that finishes to

The processing machine 200 may be, for example, a lathe that processes a workpiece by bringing the tool into contact with the rotating workpiece, or a machining center that processes the workpiece by bringing the rotating tool into contact with the workpiece. Alternatively, it may be a multitasking machine having a turning function and a milling function, or an AM/SM hybrid machine capable of removing and additional machining of a workpiece.

The work place 210 is spaced apart from the processing machine 200 in the Z-axis direction. The workpiece storage area 210 is a place for placing workpieces before and/or after machining.

The transport device 10 is a device for transporting a work W to be processed by the processing machine 200 . The conveying device 10 conveys the work W between the plurality of processing machines 200 and the work place 210, and transfers the work W to a work holder such as a work spindle or a table in each processing machine 200.

The conveying device 10 has a frame body 20, a plurality of column members 22, a traveling body 31, and arm units 41 (41J, 41K).

The frame body 20 extends in the Z-axis direction (first direction). The frame body 20 extends in the Z-axis direction parallel to the horizontal direction. The frame body 20 is arranged above a plurality of processing machines 200 and a workpiece storage place 210 .

The frame body 20 is configured by combining a plurality of frame modules 21 . Each frame module 21 extends in the Z-axis direction. A plurality of frame modules 21 are arranged in the Z-axis direction, and the frame modules 21 adjacent to each other in the Z-axis direction are joined together.

The column member 22 extends in the X-axis direction (vertical direction). A lower end portion of the column member 22 is connected to the floor surface FL. An upper end portion of the column member 22 is connected to the frame body 20 . The plurality of column members 22 are spaced apart from each other in the Z-axis direction. A plurality of column members 22 support the frame body 20 at a position spaced upward from the floor surface FL.

The traveling body 31 is supported by the frame body 20 . The traveling body 31 is supported by the frame body 20 so as to be slidable in the Z-axis direction.

The arm unit 41 is mounted on the traveling body 31 . The arm unit 41 is configured to be slidable in the X-axis direction and the Y-axis direction. The arm unit 41 has a grip portion 43 . The gripping portion 43 is configured to be able to grip the workpiece W. As shown in FIG. Arm unit 41J and arm unit 41K have the same structure. The arm unit 41J and the arm unit 41K are provided side by side in the Z-axis direction.

The traveling body 31 travels in the Z-axis direction, and the arm unit 41 slides in the X-axis direction and the Y-axis direction. It is conveyed freely in the axial direction.

As shown in FIG. 2 , the carrier device 10 further has a ground control panel 56 and an on-board control panel 51 . The ground control panel 56 is installed on the floor FL. The ground control panel 56 has an operation panel 57 . A worker can command the operation of the transport device 10 and the plurality of processing machines 200 through the operation panel 57 . The on-board control panel 51 is mounted on the traveling body 31 . When the traveling body 31 travels, the on-board control panel 51 moves along with the traveling body 31 in the Z-axis direction.

The transport device 10 further has a first communication device 71 and a second communication device 72 . The first communication device 71 is mounted on the traveling body 31 . When the traveling body 31 travels, the first communication device 71 moves along with the traveling body 31 in the Z-axis direction. The first communication device 71 is connected to the on-board control panel 51 via wiring. The second communication device 72 is provided at a position distant from the first communication device 71 . The second communication device 72 is fixed with respect to the frame body 20 . The second communication device 72 is connected to the ground control panel 56 via wiring.

The first communication device 71 can communicate data wirelessly. The second communication device 72 can wirelessly communicate data with the first communication device 71 .

Communication means in the first communication device 71 and the second communication device 72 is optical wireless communication. The first communication device 71 is an optical transceiver that emits light (for example, infrared rays) toward the second communication device 72 and receives light from the second communication device 72 . The second communication device 72 is an optical transceiver that emits light (for example, infrared rays) toward the first communication device 71 and receives light from the first communication device 71 . Note that the transmission medium used for wireless communication is not limited to light, and may be radio waves.

The first communication device 71 and the second communication device 72 receive various I/F signals between the onboard control panel 51 and the ground control panel 56, display signals of the screen provided on the ground control panel 56, or status monitor signals, etc.

The transport device 10 further comprises a pendant 53 and an air compressor 52 . The pendant 53 is connected to the on-board control panel 51 via wiring during maintenance of the transport device 10 . A worker can operate the transport device 10 through the pendant 53 . The air compressor 52 supplies air for driving the gripper 43 .

The conveying device 10 further has an overhead wire 61 and a current collector 62 . The overhead wire 61 is provided on the frame body 20 . The overhead wire 61 extends in the Z-axis direction. The current collector 62 is provided on the traveling body 31 . The power from the overhead wire 61 is supplied to the current collector 62 by keeping contact with the overhead wire 61 while the traveling body 31 is traveling.

The arrangement of the first communication device 71, the second communication device 72, the overhead wire 61, and the current collector 62 will be described later in detail.

Next, a more specific configuration of the transport device 10 will be described. FIG. 3 is a cross-sectional view showing the frame body as viewed in the direction of arrows on line III-III in FIG. 4 is a perspective view partially showing the conveying device in FIG. 1. FIG. 5 is a front view showing the conveying device in FIG. 4. FIG. 6 is a side view showing the conveying device in FIG. 4. FIG. 7 is a top view showing the conveying device in FIG. 5. FIG.

1 to 7, the frame body 20 has a first frame body 26, a second frame body 27, a connection frame 28, and a connection plate 29. As shown in FIG.

Each of the first frame body 26 and the second frame body 27 extends in the Z-axis direction. The first frame body 26 and the second frame body 27 are spaced apart from each other in the Y-axis direction.

Each frame body of the first frame body 26 and the second frame body 27 has a closed cross-section when cut by an X-axis-Y-axis plane orthogonal to the Z-axis direction. Each frame body of the first frame body 26 and the second frame body 27 has a rectangular closed cross-section when cut by an X-axis-Y-axis plane orthogonal to the Z-axis direction. Each of the first frame body 26 and the second frame body 27 is made of a metal square pipe.

The first frame body 26 has a first facing surface 26a, a first top surface 26b, and a first bottom surface 26c. The second frame body 27 has a second facing surface 27a, a second top surface 27b, and a second bottom surface 27c.

Each opposing surface of the first opposing surface 26a and the second opposing surface 27a consists of a plane parallel to the Z-axis-X-axis plane. Each opposing surface of the first opposing surface 26a and the second opposing surface 27a has a rectangular shape (band shape) with the longitudinal direction in the Z-axis direction and the lateral direction in the X-axis direction. The first opposing surface 26a faces the -Y-axis direction. The second opposing surface 27a faces the +Y-axis direction. The second facing surface 27a faces the first facing surface 26a in the Y-axis direction (second direction) orthogonal to the Z-axis direction.

Each top surface of the first top surface 26b and the second top surface 27b consists of planes parallel to the Z-axis-Y-axis plane. The first top surface 26b and the second top surface 27b are arranged on the same plane parallel to the Z-axis-Y-axis plane. Each top surface of the first top surface 26b and the second top surface 27b faces the +X-axis direction.

Each bottom surface of the first bottom surface 26c and the second bottom surface 27c consists of planes parallel to the Z-axis-Y-axis plane. The first bottom surface 26c and the second bottom surface 27c are arranged on the same plane parallel to the Z-axis-Y-axis plane. Each bottom surface of the first bottom surface 26c and the second bottom surface 27c faces the -X-axis direction. The first bottom surface 26c is arranged behind the first top surface 26b. The second bottom surface 27c is arranged behind the second top surface 27b.

The connection frame 28 extends in the Y-axis direction. The connection frame 28 has a closed cross section when cut by a Z-axis-X-axis plane orthogonal to the Y-axis direction. The connection frame 28 has a rectangular closed cross section when cut by a Z-axis-X-axis plane orthogonal to the Y-axis direction. The connection frame 28 consists of a metal square pipe.

The connection frame 28 is connected to the first facing surface 26a and the second facing surface 27a. The connection frame 28 is connected to the first facing surface 26a at its tip extending in the +Y-axis direction, and connected to the second facing surface 27a at its tip extending in the -Y-axis direction. The connection frame 28 connects the first frame body 26 and the second frame body 27 .

The length of the connection frame 28 in the X-axis direction is smaller than the lengths of the first frame body 26 and the second frame body 27 in the X-axis direction. The connection frame 28 is provided at a position closer to the first bottom surface 26c and the second bottom surface 27c than the first top surface 26b and the second top surface 27b in the X-axis direction. The distance between the first top surface 26b and the second top surface 27b and the connection frame 28 in the X-axis direction is the distance between the connection frame 28 and the first bottom surface 26c and the second bottom surface 27c in the X-axis direction. greater than the distance of

The connection plate 29 extends in the Y-axis direction. The connection plate 29 is made of a plate material arranged parallel to the Z-axis-Y-axis plane. The connection plate 29 is connected to the first bottom surface 26c and the second bottom surface 27c. The connection plate 29 connects the first frame body 26 and the second frame body 27 .

The frame body 20 has a plurality of connection frames 28 and a plurality of connection plates 29 . The plurality of connection frames 28 are spaced apart from each other in the Z-axis direction. The plurality of connection plates 29 are spaced apart from each other in the Z-axis direction. The first frame body 26 and the second frame body 27 are united in each frame module 21 by a connecting frame 28 and a connecting plate 29 .

The connection frame 28 and the connection plate 29 function as connection parts that connect the first frame body 26 and the second frame body 27 . Either one of the connection frame 28 and the connection plate 29 may be provided as a connection component that connects the first frame body 26 and the second frame body 27 .

A concave portion 23 is provided in the frame body 20 . The concave portion 23 extends in the Z-axis direction while forming a concave shape.

The recessed portion 23 is composed of a space of a first opposing surface 26a and a second opposing surface 27a. The concave portion 23 has a plane on which a first opposing surface 26a, a second opposing surface 27a, a first top surface 26b and a second top surface 27b are arranged, and a plane on which a first bottom surface 26c and a second bottom surface 27c are arranged. It consists of a space surrounded by The recess 23 forms an opening in the frame body 20 that opens between the first top surface 26b and the second top surface 27b. The recessed portion 23 extends in the Z-axis direction while forming a recessed shape that is recessed in the −X-axis direction from the first top surface 26b and the second top surface 27b and recessed in the +X-axis direction from the first bottom surface 26c and the second bottom surface 27c. there is

8 is a side view showing an enlarged area surrounded by a two-dot chain line VIII in FIG. 6. FIG. FIG. 9 is a cross-sectional view showing the conveying device as viewed in the direction of arrows on line IX-IX in FIG.

4 to 9 , traveling body 31 has base 32 , first linear guide 36 and second linear guide 37 , and first motor 81 .

The base 32 is made of a plate arranged parallel to the Y-axis-Z-axis plane. The base 32 is provided above the frame body 20 . The base 32 faces the first top surface 26b and the second top surface 27b in the X-axis direction. An onboard control panel 51 and an air compressor 52 are mounted on the base 32 .

The first linear guide 36 and the second linear guide 37 are provided as a guide mechanism that guides the base 32 in the Z-axis direction.

As shown in FIGS. 7 to 9, each linear guide of first linear guide 36 and second linear guide 37 has rail 38 and slider 39 . The rail 38 extends in the Z-axis direction. A rail 38 of the first linear guide 36 is attached to the first top surface 26b. A rail 38 of the second linear guide 37 is attached to the second top surface 27b. The slider 39 is fitted to the rail 38 via a plurality of balls. The slider 39 is slidable in the Z-axis direction by being guided by rails 38 . The slider 39 is fixed to the base 32 .

The base 32 , the first frame body 26 and the second frame body 27 are separated in the X-axis direction by the thickness of the first linear guide 36 and the second linear guide 37 . The running body 31 is provided so as to block the opening formed in the frame body 20 by the recess 23 . The base 32, the first linear guide 36 and the second linear guide 37 are provided so as to block the opening of the recess 23 that opens between the first top surface 26b and the second top surface 27b.

The first motor 81 is provided as a power source for causing the traveling body 31 to travel in the Z-axis direction. The first motor 81 is mounted on the base 32 . Rotational motion output from the first motor 81 is transmitted to a feed mechanism such as a rack and pinion, so that the traveling body 31 travels in the Z-axis direction.

Each arm unit 41 of arm unit 41J and arm unit 41K further has a first arm 44, a second motor 82 (82J, 82K), a second arm 42, and a third motor 83 (83J, 83K). . The second motor 82J and the third motor 83J are provided corresponding to the arm unit 41J, and the second motor 82K and the third motor 83K are provided corresponding to the arm unit 41K.

The first arm 44 extends in the Y-axis direction. The first arm 44 is provided on the base 32 . The first arm 44 is supported by the base 32 so as to be slidable in the Y-axis direction. The second motor 82 is provided as a power source for sliding the first arm 44 in the Y-axis direction. The second motor 82 is mounted on the base 32 . Rotational motion output from the second motor 82 is transmitted to a feed mechanism such as a rack and pinion to slide the first arm 44 in the Y-axis direction.

The second arm 42 extends in the X-axis direction. A grip portion 43 is attached to the end (lower end) of the second arm 42 in the -X-axis direction. The second arm 42 is provided at a position displaced from the base 32 in the +Y-axis direction. The second arm 42 is attached to the tip of the first arm 44 in the +Y-axis direction. The second arm 42 is supported by the first arm 44 so as to be slidable in the X-axis direction. The third motor 83 is provided as a power source for sliding the second arm 42 in the X-axis direction. The third motor 83 is mounted on the base 32 . Rotational motion output from the third motor is transmitted to a feed mechanism such as a rack and pinion to slide the second arm 42 in the X-axis direction.

As shown in FIGS. 4, 8 and 9, the first communication device 71 is attached to the base 32 via attachment angles 74 . The mounting angle 74 extends from the base 32 in the −Z-axis direction and enters the recess 23 . The first communication device 71 is provided below the base 32 . The first communication device 71 is provided at the end of the base 32 in the +Z-axis direction.

The first communication device 71 is arranged in the recess 23 . The entire first communication device 71 is placed in the recess 23 . The first communication device 71 moves in the Z-axis direction while being arranged in the concave portion 23 when the traveling body 31 travels.

The first communication device 71 has a light projecting section 76 and a light receiving section 77 . The light projecting section 76 emits light. The light receiving portion 77 receives light. The first communication device 71 is provided in a posture in which the light projecting portion 76 and the light receiving portion 77 are arranged in the X-axis direction. The first communication device 71 is provided such that at least the light projecting portion 76 and the light receiving portion 77 are arranged in the recess 23 . As shown in FIG. 9, the first communication device 71 is arranged so as not to overlap the connection frame 28 when viewed in the Z-axis direction.

The second communication device 72 is attached to the frame body 20 via attachment angles 73 . The second communication device 72 is attached to the first frame body 26 . The second communication device 72 is attached to the first facing surface 26a. The second communication device 72 is provided at the end of the frame body 20 in the +Z-axis direction.

The second communication device 72 is arranged in the recess 23 at a position away from the first communication device 71 in the Z-axis direction. The entire second communication device 72 is arranged in the recess 23 .

The second communication device 72 has a light projecting section 78 and a light receiving section 79 . The light projecting section 78 emits light. The light receiving portion 79 receives light. The second communication device 72 is provided in a posture in which a light projecting section 78 and a light receiving section 79 are arranged side by side in the X-axis direction. The light projecting section 78 of the second communication device 72 faces the light receiving section 77 of the first communication device 71 in the Z-axis direction. The light receiving section 79 of the second communication device 72 faces the light projecting section 76 of the first communication device 71 in the Z-axis direction. The second communication device 72 is provided such that at least the light projecting section 78 and the light receiving section 79 are arranged in the recess 23 .

While the traveling object 31 is traveling, the first communication device 71 and the second communication device 72 receive light emitted from the light projecting unit 78 at the light receiving unit 77 while changing the distance therebetween. Various data are communicated by receiving the light emitted by the light receiving section 79 at the light receiving section 79 . In this case, since the first communication device 71 and the second communication device 72 are arranged in the recess 23 , the light travels inside the recess 23 . This makes it difficult for an interfering object such as a person to enter the path of light between the first communication device 71 and the second communication device 72, thereby increasing the reliability of the communication between the first communication device 71 and the second communication device 72. can improve sexuality.

In addition, the first communication device 71 is arranged so as not to overlap the connection frame 28 when viewed in the Z-axis direction. Thereby, it is possible to prevent the first communication device 71 moving in the Z-axis direction together with the traveling body 31 from interfering with the connection frame 28 .

Further, the frame body 20 provided with the concave portion 23 is supported by a plurality of pillar members 22 at a position spaced upward from the floor surface FL. Further, the traveling body 31 is provided so as to block the opening formed in the frame body 20 by the recess 23 . These configurations make it more difficult for an interfering object such as a person to enter the path of light between the first communication device 71 and the second communication device 72 . communication reliability can be further improved.

4 and 9, overhead wire 61 includes a three-phase power line for power supply to the motor, a signal line for emergency stop, and a ground line. The overhead wire 61 is attached to the second frame body 27 . The overhead wire 61 extends in the Z-axis direction along the second facing surface 27a. The overhead wire 61 is arranged in the recess 23 .

The current collector 62 is attached to the base 32 via attachment angles 63 . The mounting angle 63 extends from the base 32 in the −Z-axis direction and enters the recess 23 . The current collector 62 is provided below the base 32 . The current collector 62 is provided on the back side of the first communication device 71 when viewed from the second communication device 72 in the Z-axis direction. In other words, the first communication device 71 is arranged between the current collector 62 and the second communication device 72 in the Z-axis direction.

The current collector 62 is arranged in the recess 23 . The entire current collector 62 is arranged in the recess 23 . The current collector 62 moves in the Z-axis direction while being arranged in the concave portion 23 when the traveling body 31 travels.

As shown in FIG. 9, the current collector 62 is provided so as not to overlap the connection frame 28 when viewed in the Z-axis direction. The current collector 62 is provided so as not to overlap the first communication device 71 when viewed in the Z-axis direction. When viewed in the Z-axis direction, the current collector 62 is provided side by side with the first communication device 71 in the Y-axis direction. When viewed in the Z-axis direction, the current collector 62 is arranged between the first communication device 71 and the second frame body 27 in the Y-axis direction.

According to such a configuration, since the overhead wire 61 and the current collector 62 are arranged in the recess 23 , a person does not inadvertently enter the power supply point from the overhead wire 61 to the current collector 62 . Thereby, the reliability of power supply from the overhead wire 61 to the current collector 62 can be improved.

To summarize the structure of the transport device 10 according to the embodiment of the present invention described above, the transport device 10 according to the present embodiment includes a frame body 20 extending in the Z-axis direction as the first direction, and the frame body 20 It is provided with a traveling body 31 that is supported and travels in the Z-axis direction to convey a work as an object to be conveyed, and a first communication device 71 that is provided on the traveling body 31 and is capable of wirelessly communicating data. The frame body 20 is provided with a concave portion 23 extending in the Z-axis direction while forming a concave shape. The first communication device 71 is arranged in the recess 23 .

According to the conveying apparatus 10 according to the embodiment of the present invention configured in this way, since the first communication device 71 is arranged in the concave portion 23, an obstacle such as a person can interfere with the communication in the first communication device 71. It is difficult to intrude on the route. Thereby, the reliability of communication in the first communication device 71 can be improved.

Although the second communication device 72 that communicates with the first communication device 71 is fixed to the frame body 20 in this embodiment, the present invention is not limited to this. The second communication device 72 may be attached to, for example, a post provided at a position away from the frame body 20 in the +Z-axis direction. Even in this case, the second communication device 72 is preferably provided on a straight line extending from the first communication device 71 in the +Z-axis direction.

Moreover, the object to be conveyed by the conveying device of the present invention is not limited to the work, and may be, for example, a tool.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the meaning and range of equivalents of the scope of the claims.

INDUSTRIAL APPLICABILITY The present invention is applied to a conveying device that conveys an object to be conveyed such as a work or a tool.

10 Conveying device 20 Frame body 21 Frame module 22 Column member 23 Recess 26 First frame body 26a First opposing surface 26b First top surface 26c First bottom surface 27 Second frame body 27a Second 2 facing surface 27b second top surface 27c second bottom surface 28 connection frame 29 connection plate 31 traveling body 32 base 36 first linear guide 37 second linear guide 38 rail 39 slider 41 , 41J, 41K arm unit, 42 second arm, 43 gripping part, 44 first arm, 51 onboard control panel, 52 air compressor, 53 pendant, 56 ground control panel, 57 operation panel, 61 overhead wire, 62 current collector , 63, 73, 74 Mounting angle 71 First communication device 72 Second communication device 76, 78 Light projecting unit 77, 79 Light receiving unit 81 First motor 82, 82J, 82K Second motor 83, 83J, 83K 3rd motor, 100 work processing system, 200 processing machine, 210 work place, FL floor, W work.

Claims (7)

A conveying device,
a frame body extending in a first direction;
a running body that is supported by the frame body and transports an object to be transported by running in the first direction;
A first communication device provided on the traveling body and capable of wirelessly communicating data,
The frame body is provided with a concave portion extending in the first direction while forming a concave shape,
The first communication device is arranged in the recess ,
The data is an I/F signal between an on-board control panel mounted on the traveling body and a ground control panel installed on the floor on which the transport device is installed, and is provided in the ground control panel. A transport device including at least one of a screen display signal and a status monitor signal of the transport device . an overhead wire provided on the frame body and extending in the first direction;
A current collector provided on the traveling body and supplied with electric power from the overhead wire,
2. The conveying device according to claim 1, wherein the overhead wire and the current collector are arranged in the recess. The frame body
a first frame body having a first facing surface and extending in the first direction;
a second frame body having a second facing surface facing the first facing surface in a second direction perpendicular to the first direction and extending in the first direction;
3. The conveying device according to claim 1, wherein said concave portion comprises a space between said first opposing surface and said second opposing surface. The frame body
further comprising a connection frame connected to the first opposing surface and the second opposing surface and connecting the first frame body and the second frame body;
4. The transport device according to claim 3, wherein the first communication device is arranged so as not to overlap the connection frame when viewed in the first direction. further comprising a second communication device fixed to the frame body and capable of wirelessly communicating data with the first communication device;
5. The conveying apparatus according to any one of claims 1 to 4, wherein said second communication device is arranged in said recess at a position remote from said first communication device in said first direction. The frame body extends in the first direction parallel to the horizontal direction, and
The conveying apparatus according to any one of claims 1 to 5, comprising a plurality of pillar members erected on a floor surface and supporting the frame body at a position spaced apart from the floor surface. The conveying device according to any one of claims 1 to 6, wherein the traveling body is provided so as to block an opening formed in the frame body by the recess.

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