JPH0213509A - Omnidirectional drive conveyor - Google Patents

Abstract

PURPOSE:To reduce the space and the motor output and to shorten the time, in a carrying direction converting conveyor, by arranging two sets of roller groups perpendicularly and horizontally and driving each drive motor with combined relative speed based on a position detection signal of a carrying body. CONSTITUTION:First and second roller groups 1, 2 comprise central row of rollers formed with grooves of same depth thus constituting pulley rollers 6, 7 which are coupled through a round belt and a main shaft 8 pulley 10 with respective motors 19, 19. The position of a body to be carried in is detected through a sensor 18 and respective motors 19 are driven based on the detected position thus driving the first and second roller groups 1, 2. At this time, relative speeds of respective motors 19 are combined and the direction of the body to be carried is converted horizontally in omnidirection. By such arrangement, the space and the output of motor are reduced and the time is shortened.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a conveyor that is installed at a joint between a plurality of conveyors carrying conveyors and changes the direction of the conveyors.

[Conventional technology]

Conventional direction change devices include a right angle change device with a large mechanism divided into upper and lower stages, a manual direction change device with casters, etc., which require a large space, or a drive system using wheels with barrel-shaped rollers. There were unidirectional drive conveyors that moved the conveyor to the end of the heald using a conveyor, but they could only be used in a limited direction.

[Problem to be solved by the invention]

The object of the present invention is to provide an omnidirectional movable drive conveyor that can reduce the space, reduce the output of the drive motor that drives the rollers, change the direction of conveyance in all directions, and change the direction in a short time. shall be.

[Means to solve the problem]

According to the present invention, the above purpose is to provide a first group of rollers which are installed at the connecting part of a plurality of conveyors, carry a conveying body horizontally and are arranged in the same direction at a predetermined pitch;
a second roller group arranged perpendicularly to the roller group and arranged at the same or different pitch from the first roller group; two sets of sprockets connected to the first and second roller groups; This is achieved by an omnidirectional drive conveyor consisting of two drive motors that drive the conveyor and a sensor that detects the position of the conveyor.

[For use]

FIG. 7 is a detailed explanatory diagram of the present invention. When rollers 21 and 22, which have the same length and are perpendicular to each other, are rotated at the same speed in the direction of the arrow in the figure, the force applied to the conveying body is equal to the force of both rollers. The combined effect is the same as when the roller 23 rotates in the direction of the arrow in the figure. Figure 8 expresses the force applied to the rollers in Figure 7 in hectors, and the lengths A, B, and C of the bold arrows are the lengths of the contact lines aI az, b+ bz+c, and c2 of the respective rollers and their speeds. represents the product and lies on the perpendicular bisector of the contact line. When the force A acting on the conveying body due to the rotation of the roller 21 and the force B acting on the conveying body due to the rotation of the roller 22 are combined, the resultant force is the same as the force C acting on the conveying body in the direction of the perpendicular bisector of the roller 23. Can be moved. On the other hand, in order to obtain force A when the length of roller 21 is half the length of roller 22, the rotation speed of roller 21 needs to be twice that of roller 22. Conversely, when the length of the roller 21 is twice that of the roller 22, the rotational speed of the roller 21 may be half that of the roller 22.

【Example】

Examples will be described below based on the drawings. FIG. 1 is a layout diagram of an omnidirectional moving drive conveyor according to an embodiment of the present invention, FIG. 1(A) is a plan view, FIG. 1(B) is a side view, and FIG. 2 is an omnidirectional moving conveyor as shown in FIG. FIG. 2 is an overall sketch of the driving converter. In FIG. 2, the same parts as in FIG. 1 are given the same numbers. In FIG. 1, a first roller group 1 has a large diameter, a second roller group 2 has a small diameter, and the upper surfaces of the roller groups are on the same level. The axes of the first roller group 1 and the second roller group 2 are perpendicular to each other. The line of contact between the first roller group 1 and the conveying body and the line of contact between the second roller group 2 and the conveying body are approximately equal. The shaft 3 of the first roller group 1 and the shaft 4 of the second roller group 2, which are orthogonal to each other when viewed from directly above, are set so that the shafts are bent and do not come into contact even if the conveyor is placed on the conveyor and stopped. be. 5 is a fixed frame that supports the roller group. A belt is applied to the grooves of the pulley rollers 6 of the first roller group 1 and the pulley rollers 7 of the second roller group 2 to drive the respective roller groups. In FIGS. 1 and 2, the fixed frame 5 of the roller group has legs 13.
is supported by The first roller group 1 consists of six rollers, and the second roller group 2 consists of six rollers, and only one row in the center of each roller is a pulley roller with a groove of the same depth cut in the center of the roller. Since the grooves of the pulley rollers 6.7 are cut deeper than the thickness of the round belt 11, the belt does not come into contact with the bottom surface of the conveyor during conveyor operation. =5- The round belt 11 is attached to the main shaft 8 of the main shaft 8 under the pulley roller 6.7 by twisting it by 90 degrees. This is because the axis of the pulley roller 6.7 and the main shaft 8 are located at right angles. The main pulley is equipped with a guide to prevent it from coming off. There is a sprocket 1-9 at the tip of the main shaft, which is connected to a drive motor 19 by a chino 12. Therefore, when the drive motor 19 rotates, the first roller group and the second roller group, which are perpendicular to each other, rotate without shifting. The upper surfaces of the first roller group 1 and the second roller group 2 are on the same horizontal plane in order to eliminate the gap between the conveyor and the rollers due to deflection of the roller shaft, improve contact between the roller group and the conveyor, and increase conveyance efficiency. It needs to be as shown above. Therefore, after setting the roller's own weight and maximum transport weight in advance, the axis and material of the roller are determined. In some cases, an intermediate support 15 may be attached as shown in FIG. 2, and this intermediate support 15 may be attached to the auxiliary frame
4, and the upper end of the intermediate support 15 supports a roller shaft with a bearing. Figure 3 shows an example in which the sizes of the first roller group and the second roller group are changed. Figure 3 (A, ) shows an example in which the length of the rollers is extremely shortened and the rollers are It is arranged on the roller shaft like an abacus ball, and facilitates the arrangement of a sensor for monitoring the position of the conveyor, which will be described later. Figure 3 (B) shows a system in which the length of the rollers is increased and the pitch of the shaft arrangement is increased to reduce the number of rollers and reduce costs, and Figure 3 (C) shows a system in which short rollers are used between long roller groups. The group has a gear on the fixed end side of the shaft, and each row is connected by a checker 7, so that each row is interlocked with one drive motor. In FIG. 3(D), only one roller is elongated, and the diameter of the elongated roller is slightly thicker than that of the shaft of the other roller, so that the thickness of the conveyor itself can be made extremely thin. FIG. 4 is a diagram showing the moving state of the conveyor, and FIG. 4(A) shows that the first roller group 1 and the second roller group 2 are in the fifth
(A) 41&! ] When the conveyor rotates in the direction indicated by the thick arrow, that is, from right to left, FIG.
Figure 4(C) shows a state in which the roller group 1 is rotating in the direction of the arrow and the second roller group 2 is at rest. The first roller group 1 and the second roller group 2 move in the direction shown in column (C) of FIG. 5, that is, in the direction of the thick arrow. In order to know the moving position of the carrier, a detection sensor 18 consisting of a diffuse reflection type photoelectric switch or the like is attached as shown in FIG. 4(B). FIG. 6 is a diagram illustrating the use of the omnidirectional movable drive conhair according to the embodiment of the present invention. FIG. 6(A) shows that the conveyor is conveyed from the conveyor CI moving to the left via the omnidirectional moving drive conveyor to the conveyor C moving downward in the drawing. In addition, in the figure, the first roller group and the second roller group are shown in a simplified manner by dashed-dotted lines 1a and 2a. This change in direction is made possible by the rotation of the roller group shown in FIG. That is, the first roller group 1a and the second roller group 2a are rotated as shown in FIG. 4(A) just before the conveyance object approaches the omnidirectional moving drive conveyor, and the conveyance object is detected by the sensors 181 and 18□. If so, by immediately reversing the second roller group 2a, the conveyance body can be conveyed in the desired direction without stopping. The reason why two sensors 18 (1B, , 1B□) are used is that even if the conveyance object is tilted on the horizontal plane while being carried on the conveyor CI, this can be detected and the conveyance object can be oriented accurately. This is to enable the conveyance body to be turned around and conveyed to Conhair C2. Figure 6 (B) shows that the conveyance body is conveyed by moving straight or by changing direction to both sides in the right angle direction. In this way, "+" Four con hair C- arranged in a letter shape.
When an omnidirectional moving drive conveyor is placed in the center of C, it is preferable to provide four sensors 181 to 184 so that the movement of the conveyor in the orthogonal direction can be observed. In this embodiment, the position of the conveyor is detected from the gap between orthogonal rollers. Here, for example, conveyor C
Conveyance from conveyor CI to conveyor C2 is carried out in the same manner as in the case of FIG.
, by rotating the second roller group 2a. Fig. 6(C) shows a system in which an omnidirectional drive conveyor is arranged at the center of eight conveyors C and -C8 arranged in a "±" shape to transport objects in various directions indicated by arrows. It shows. When a large number of sensors are required to confirm the position of the conveyor as in this case, the sensor moving frame 16 shown in FIG. 2 is used so that the sensor 18 can be installed at a desired position. The sensor moving frame 16 is the sensor 18
A groove is cut to allow the roller to shift, and it is fixed on the auxiliary frame below the roller in the conhair. As an example, a case will be described in which a conveyance body is conveyed from the conveyor C4 to the conveyor C3 via the omnidirectional moving drive conveyor. First, as shown in FIG. 4(A), just as the conveyance body being carried on the conhair C1 moving to the left approaches the omnidirectional movable drive conhair, the first roller group 1a and the second roller group 2a are moved. Rotate. Next, a sensor 18 installed at a predetermined turning position. , 18
Immediately after the conveyance body is detected by □, the second roller group 2a is temporarily stopped as shown in FIG. 4(B). At this time, the conveying body is conveyed toward the upper left of the drawing along the diagonal line of the omnidirectional moving drive conhair. And sensor 183. When the conveyance body is detected by the IL, the second roller group 2a is rotated again as shown in FIG. 4(A). Thereby, the carrier can be smoothly transported from Conhair CI to Conhair C3. In the omnidirectional drive conveyor, the drive motor that drives the chino can be placed not just below the main shaft but also at the root of the main shaft, as long as it does not interfere with the sensor, roller shaft support, main shaft, and rollers. In that case, the sprocket position will be closer to the center of the main shaft. In this case, the auxiliary frame supporting the drive motor is mounted on the roller, making the entire device compact.

【Effect of the invention】

According to this invention, the conveyance body can be moved in all directions by combining the rotations of the first roller group and the second roller group, and the direction can be changed continuously without stopping the conveyance body, so that the conveyance time can be shortened. In addition, since the distance between the transport bodies can be narrowed, the amount of material to be processed by the transport bodies per unit time can be increased, and processing capacity can be improved.

[Brief Description of the Drawings] Fig. 1 is a layout diagram of an omnidirectional moving drive conveyor according to an embodiment of the present invention, Fig. 1(A) is a plan view, Fig. 1(B) is a side view, and Fig. 2 is a FIG. 1 is an overall sketch of the omnidirectionally movable drive conveyor, FIG. 3 shows the arrangement of roller groups of the omnidirectionally movable drive conveyor according to another embodiment of the present invention, and FIG. 3(A)
Figure 3 (B) is a diagram in which both roller groups have extremely short roller lengths, Figure 3 (B) is a diagram in which both roller groups have long roller lengths and the pitch of the shaft arrangement is expanded, and Figure 3 ( C) is a diagram with the length of the rollers of the second roller group longer, and Figure 3 (
D) is a view with the diameter of the first roller group reduced, and FIG.
), (B), and (C) are diagrams showing the rotational direction of the roller shaft and the traveling direction of the conveyor, respectively, and Figure 5 is the same as Figure 4 (A
), (B), and (C) are explanatory diagrams showing the relationship between the rotational direction of the roller shaft and the traveling direction of the conveyor; FIGS. 6(A), (B),
(C) is a diagram showing the moving direction of the omnidirectional moving drive conveyor according to the embodiment of the present invention, FIG. 7 is a detailed explanatory diagram of the present invention, and FIG. 8 is a vector representation of the force applied to the roller of FIG. 7. This is a diagram. 1: First roller group, 2: Second roller group, 6.7; Pulley roller, 8: Main shaft, 9: Sprocket, 10: Pulley, 14: Auxiliary frame, 18: Sensor, 19: Drive motor, 20: carrier.

Claims (1)

[Claims] 1) A first roller group that is installed at the connection part of multiple conveyors, carries the conveyor horizontally, and is arranged in the same direction at a predetermined pitch, and is arranged in a direction perpendicular to the first roller group. a second roller group arranged at the same or different pitch from the first roller group, two sets of sprockets connected to the first and second roller groups, and two drives for driving the sprockets. It consists of a motor and a sensor that detects the position of the conveyance body, and the sensor detects the conveyance body and combines the relative speeds of the respective drive motors to change the direction of the resultant force applied from the roller group to the conveyance body, thereby changing the direction of the combined force applied to the conveyance body from the roller group. An omnidirectional drive conveyor that is characterized by conveying bodies by changing their direction in all horizontal directions.