TW201836952A - Article transport facility capable of inhibiting the information amount transmitted to the conveyor device - Google Patents

Abstract

A conveyor device for transporting article is configured to have a plurality of conveyor units arranged and connected along a transporting path of articles. A control section of the conveyor unit sets a speed obtained by adding a variation amount to a receivable speed as a first set speed; sets a lower speed of the first set speed and a limit speed as a receivable speed; transmits the receivable speed to an upstream side conveyor unit; sets a speed obtained by adding a variation amount to a transfer speed as a second set speed; sets a lowest speed among the second set speed, the receivable speed received from a downstream side conveyor unit, and the limit speed as a transfer speed; and transmits the transfer speed to the downstream side conveyor unit.

Description

Goods handling equipment

FIELD OF THE INVENTION The present invention relates to an article transporting apparatus provided with a conveyor device for transporting articles.

BACKGROUND OF THE INVENTION A conventional example of the article transfer device is described in Japanese Patent Laid-Open No. 2005-231840 (Patent Document 1). The article transporting device of Patent Document 1 includes a conveyor device, and the conveyor device is configured by connecting and arranging a plurality of conveyor units along a transport path for transporting articles. Such a conveyor device sends command information from the control device to each of the plurality of conveyor units, and each of the conveyor units is controlled by the control device to drive each conveyor unit based on the command information. . In addition, the conveyor unit is configured to transfer the conveyor units adjacent to the downstream side at a set speed in advance by driving the conveyor unit of each conveyor unit, and sequentially convey the plurality of conveyor units Next, the conveyor unit of the transport destination stops the articles received at the set speed on the conveyor unit.

SUMMARY OF THE INVENTION PROBLEMS AND SOLUTIONS TO THE PROBLEMS However, when the conveyor unit is short in the conveying direction, it may not be possible to accelerate to a set speed on one conveyor unit. In this case, it is conceivable that the control device indicates the conveying speed to the plurality of conveyor units, and transfers the conveyor unit from the starting point of the conveyance to the plurality of conveyor units to increase the conveying speed of the articles to the set speed. In addition, while the plurality of conveyor units are being moved toward the conveyor unit of the transport destination, the speed is gradually decelerated from the set speed to stop the articles at the conveyor unit of the transport destination. However, when the conveyor device is controlled in this manner, it is necessary to send information showing the conveying speed to each of the plurality of conveyor units, so that the amount of information that must be transmitted from the control device to the conveyor unit is increased.

Therefore, an article transfer facility that can suppress the amount of information sent to the conveyor device is desired.

In view of the foregoing, the article conveying equipment is characterized by the following features: it is provided with a conveyor device for conveying articles, and the conveyor device is a plurality of conveyor units connected and arranged along the article conveying path, and the plurality of conveying units are arranged Each of the machine units includes a conveyor unit on which a conveyed article is placed, a communication unit that can communicate with other adjacent conveyor units, and a control unit that controls the communication unit and the conveyor unit. The control unit may Stores speed limit information and change amount information. The speed limit information is information indicating the speed limit of the aforementioned conveyor unit provided with the control unit. The change amount information indicates that items can be stored in the aforementioned conveyor unit. Information on the change in the speed of the conveying speed, each of the plurality of the aforementioned conveyor units will transfer the articles received from the upstream conveyor unit to the downstream conveyor unit by handover, the upstream conveyor unit is The aforementioned conveyor unit adjacent to the upstream side of the aforementioned conveyor unit itself, the downstream conveyor The unit is the aforementioned conveyor unit adjacent to the downstream side of the aforementioned conveyor unit, and the control unit transfers the article from the starting point of the article conveying unit, that is, the starting point unit, to the aforementioned destination of the article. When the conveyor unit is the transfer destination unit, the first setting control, the second setting control, and the transfer control are performed. The first setting control is the following control: In order to stop the article at the transfer destination unit, The receivable speed is relayed in order from the transport destination unit to the conveyor unit on the upstream side to set the receivable speed of each of the conveyor units, where the receivable speed is its own conveyor The speed at which the unit can receive articles from the upstream conveyor unit, and the second setting control is the following control: when the article is transported from the transport starting unit, the transfer speed is downstream from the transport starting unit The conveyor unit on the side performs relay transmission in order to set the One of the aforementioned transfer speeds, wherein the transfer speed is the speed at which the conveyor unit itself transfers articles to the downstream conveyor unit. In the first setting control, each of the conveyor units The speed obtained by adding the receivable speed received by the downstream conveyor unit to the change amount shown by the change information of the own conveyor unit is the first set speed of the own conveyor unit. And set the lower one of the first set speed and the limit speed of the conveyor unit of its own to the aforementioned receivable speed of its own conveyor unit, and send the receivable speed to the upstream conveyor Machine unit, in the second setting control, each of the conveyor units is displayed by adding the transfer speed received from the upstream-side conveyor unit to the change information of the conveyor unit itself. The speed obtained by the aforementioned change amount is set as the second set speed of the aforementioned conveyor unit, and The minimum speed among the second set speed, the receivable speed received from the downstream conveyor unit, and the limit speed of the own conveyor unit is set to the transfer speed of the own conveyor unit, and The transfer speed is transmitted to the downstream conveyor unit, and the transfer control is to control the conveyor unit of the conveyor unit of the conveyor unit in such a manner that the conveyor is driven at the transfer speed received from the upstream conveyor unit. After receiving an article from the upstream conveyor unit, the conveyor unit drives the conveyor unit at the transfer speed of the conveyor unit to transfer the article to the downstream conveyor unit.

According to this configuration, in the first setting control, the speed obtained by adding the receivable speed received from the downstream conveyor unit to the change amount of its own conveyor unit is set as the first setting speed. This first set speed is set such that when an article is received from the upstream-side conveyor unit at the first set speed, the conveying speed of the article can be accelerated and decelerated in its own conveyor unit, and conveyed from the downstream side. The speed at which the downstream conveyor unit is handed over at an acceptable speed received by the machine unit. And, in the first setting control, the lower speed among the first set speed and the limited speed is set as the receivable speed of the own conveyor unit. Since the receivable speed is set within a range that does not exceed the first set speed and the speed limit of the own conveyor unit, it is possible to receive articles received from the upstream conveyor unit at the receivable speed of the own conveyor unit. , Handed over to the downstream conveyor unit at the acceptable speed of the downstream conveyor unit.

In the second setting control, the speed obtained by adding the handover speed received from the upstream conveyor unit to the change amount of its own conveyor unit is set as the second setting speed. This second set speed is set: when the item can be received from the upstream conveyor unit at the transfer speed, the conveying speed of the article is accelerated and decelerated in its own conveyor unit, and the second set speed is used to The speed at which the downstream conveyor unit is handed over. Further, in the second setting control, the lowest speed among the second set speed, the limited speed, and the receivable speed of the downstream conveyor unit is set as the transfer speed of the own conveyor unit. Since the transfer speed is set within a range that does not exceed the second set speed and limit speed of the own conveyor unit, and the receivable speed of the downstream conveyor unit, the transfer speed at the upstream conveyor unit can be changed from The articles received by the upstream conveyor unit are handed over to the downstream conveyor unit at a receivable speed of the downstream conveyor unit or lower.

In this way, since each of the plurality of conveyor units can allow the transfer speed of the upstream conveyor unit and the receivable speed of the downstream conveyor unit to be changed to change the conveying speed of the articles in its own conveyor unit, It does not require a speed command from an external control device, and can suppress the amount of information communication with the external control device.

Embodiments for Carrying Out the Invention 1. Embodiment Embodiments of the article transporting equipment will be described with reference to the drawings. As shown in FIGS. 1 and 6, the article transport facility includes a conveyor device 1 that transports articles, and a control device H that transmits transport information to the conveyor device 1. The conveyor device 1 is a plurality of conveyor units 2 connected and arranged along a conveyance path of an article. In addition, the connection arrangement shows a case where an article is arranged to be able to be transported from one of the two adjacent conveyor units 2 to another, and it is not necessary to mechanically connect the two adjacent conveyor units to each other.

As shown in FIGS. 2 to 5, as the conveyor unit 2, there are a first conveyor unit 4, a second conveyor unit 5, a swing conveyor unit 6, and a lifting conveyor unit 7. By appropriately arranging these conveyor units 2, the conveyor device 1 shown in FIG. 1 can be configured. In addition, in addition to FIG. 2 to FIG. 5, the first conveyor unit 4 is displayed as a square, the second conveyor unit 5 is displayed as a rectangle, and the swing conveyor unit 6 is displayed as a circle. The lifting conveyor unit 7 is displayed as a square inner triangle. In addition, the first type conveyor unit 4 and the second type conveyor unit 5 correspond to a linear conveyor unit, and the swing conveyor unit 6 corresponds to a divergent conveyor unit.

As shown in FIG. 2 to FIG. 5, each of the conveyor units 2 includes a conveyor unit 10 on which a conveyed article is placed, a communication unit 11 capable of communicating with the control device H and other adjacent conveyor units 2, and a control unit. The control unit 12 of the conveyor unit 10 and the communication unit 11 and the article detection sensor 13 that is an article detection unit that detects the presence or absence of an article on the conveyor unit 10 of the own conveyor unit 2. The communication unit 11 includes a first communication unit 11A that can communicate with the control device H, and a second communication unit 11B that can communicate with other adjacent conveyor units 2. Each of the conveyor units 2 includes both a first communication section 11A and a second communication section 11B. In addition, the control unit 12 can determine that an abnormality has occurred in its own conveyor unit 2 when the same article is continuously detected by the article detection sensor 13 regardless of whether or not the conveyor unit 10 is instructed to drive. . As described above, the control unit 12 has a function as an abnormality detection unit that can detect an abnormality of the conveyor unit 2 itself. In addition, the conveyor unit 2 is provided with a cut-off detection sensor (not shown), which detects the cut-off of the belt provided in the conveyor unit 10, and this cut-off detection sensor It can also function as an abnormality detection unit that detects an abnormality of its own conveyor unit 2.

As shown in FIG. 2, although the first type of conveyor unit 4 includes the conveyor unit 10, the communication unit 11, the control unit 12, and the article detection sensor 13 described above, it does not include a lifting unit 14 or a swing described later. Department 15. The first type of conveyor unit 4 is configured so that articles can be transferred linearly by the conveyor unit 10.

As shown in FIG. 3, although the second conveyor unit 5 is provided with the above-mentioned conveyor unit 10, communication unit 11, control unit 12, and article detection sensor 13 in the same manner as the first conveyor unit 4, However, it does not include a lifting portion 14 or a turning portion 15 described later. Compared with the conveyor unit 10 of the first type conveyor unit 4, the conveyor unit 10 of the first type conveyor unit 4 is configured to be longer in the conveying direction. It is formed to be longer than the conveying distance of the first conveyor unit 4. In the present embodiment, the conveyance distance of the articles of the second type conveyor unit 5 is twice as long as the conveyance distance of the first type conveyor unit 4.

As shown in FIG. 4, in addition to the conveyor section 10, the communication section 11, the control section 12, and the article detection sensor 13 described above, the swing conveyor unit 6 is also provided with a swing section 15. The conveyor unit 10 is rotated around an axis in the vertical direction. The turning conveyor unit 6 is configured so that the conveying direction of the articles in the conveyor unit 10 can be changed by turning the conveyor unit 10 around the longitudinal axis by the turning unit 15.

As shown in FIG. 5, the elevating conveyor unit 7 includes an elevating unit 14 for elevating an article in addition to the conveyor unit 10, the communication unit 11, the control unit 12, and the article detection sensor 13 described above. The lifting section 14 includes a support 14A for supporting an article from below, and a lifting driving section (not shown) for lifting and lowering the supporting body 14A. The supporting body 14A is driven to a retreat height and a support height by being driven by the lifting driving section. Wherein, the retreat height is a height lower than the article supported by the conveyor section 10, and the support height is a height for supporting the article at a higher position than the article supported by the conveyor section 10. In the elevating conveyor unit 7, by lowering the support body 14A to the retreat height first, it is possible to place the conveyed articles on the conveyor unit 10 without causing interference with the support body 14A. In addition, by raising the support body 14A from the retreat height to the support height, the articles supported by the conveyor unit 10 can be supported by the support body 14A in a state of being lifted from the conveyor unit 10. Moreover, by lowering the support body 14A from the support height to the retreat height, the articles originally supported by the support body 14A can be unloaded to the conveyor unit 10.

The conveyor unit 10 includes a conveyor body 10A on which a conveyed article is placed, and an electric motor 10B as a drive unit that drives the conveyor body 10A. The control unit 12 includes a communication control board 12A and a drive board 12B that controls driving of the electric motor 10B. The article detection sensor 13 includes a first article detection sensor 13A and a second article detection sensor 13B.

The communication control substrate 12A controls the operations of the first communication unit 11A and the second communication unit 11B, and sends and receives information to and from the adjacent conveyor unit 2 or the control device H. In addition, the communication control board 12A transmits and receives information to and from the drive board 12B included in the own conveyor unit 2. The drive substrate 12B controls the electric motor 10B included in the own conveyor unit 2 and can input detection information of the article detection sensor 13 provided in the own conveyor unit 2.

The first article detection sensor 13A is configured to detect the article in a state where the entire article is located on the conveyor unit 10 of the conveyor unit 2 of the article. The second article detection sensor 13B is configured to detect an article located at a predetermined position in the conveyor unit 10 of the own conveyor unit 2. The second article detection sensor 13B is provided to detect an article located more upstream than the first article detection sensor 13A, and is provided to carry an article carried from the conveyor unit 2 adjacent to the upstream side. When at least a part of it has been transferred to the conveyor unit 10 of the own conveyor unit 2A, the article can be detected.

The conveyor unit 2 includes a unit configured by combining a plurality of unit bodies U. In the present embodiment, the first conveyor unit 4, the rotary conveyor unit 6, and the lifting conveyor unit 7 are constituted by one unit body U. In contrast, the second type of conveyor unit 5 is configured by combining two unit bodies U. The unit body U includes a conveyor unit 10 (the conveyor body 10A and the electric motor 10B), an article detection sensor 13 (a first article detection sensor 13A and a second article detection sensor 13B), and a drive substrate. 12B. The unit body U of the rotary conveyor unit 6 is provided with a turning portion 15, and the unit body U of the lifting conveyor unit 7 is provided with a lifting portion 14. The conveyor unit 2 (the first conveyor unit 4, the swing conveyor unit 6, and the lifting conveyor unit 7) composed of only one unit body U is included in the one unit body U. The first communication unit 11A, the second communication unit 11B, and the communication control board 12A are provided. In contrast, in the conveyor unit 2 (second conveyor unit 5) composed of a plurality of unit units U, the second communication unit 11B and the communication control substrate 12A are provided only in the plurality of unit units U. Either one.

In the conveyor device 1 shown in FIG. 1, the first conveyor unit 4, the second conveyor unit 5, and the swivel conveyor unit 6 are straight along the first conveyance path R1 and the second conveyance path R2. The first conveyor unit 4 is linearly connected and arranged along a connecting path R3 connecting the first conveying path R1 and the second conveying path R2. As shown by an arrow in FIG. 1, the conveyor device 1 transports articles along a first transport path R1 in a first direction X1 and transports articles along a second transport path R2 in a second direction. As shown by an arrow in FIG. 1, the conveyor device 1 is transported in the third direction Y1 or the fourth direction Y2 along the connection path R3.

Next, the conveyance of the article of the conveyor device 1 is demonstrated using the part enclosed by the one-point chain line in FIG. 1 as an example. As shown in FIG. 6, along the first conveying path R1, the rotary conveyor unit 6, the first conveyor unit 4, the rotary conveyor unit 6, the second conveyor unit 5, and the rotary conveyor are started from the upstream side. The units 6 are arranged in a sequential order. In addition, the elevating conveyor unit 7 is connected and arranged in a state adjacent to the rotary conveyor unit 6 in the third direction Y1. In addition, the conveyor device 1 transports articles from the upstream side by a rotary conveyor unit 6, a first conveyor unit 4, a rotary conveyor unit 6, a second conveyor unit 5, and a rotary conveyor unit. 6 in order. In addition, the swivel conveyor unit 6 is configured such that after the conveyor unit 6 has been received from the first conveyor unit 4 adjacent to the upstream side, the conveyor unit 10 can be rotated to transport the lift conveyor unit 7.

As such, each of the plurality of conveyor units 2 transfers the articles received from the conveyor unit 2 adjacent to the upstream side of the own conveyor unit 2 to the conveyor unit on its own. The conveyor unit 2 adjacent to the downstream side of 2. Incidentally, in the case of the rotary conveyor unit 6 adjacent to the lifting conveyor unit 7 in FIG. 6, the articles received from the first type of conveyor unit 4 adjacent to the upstream side are alternately directed toward The second-type conveyor unit 5 or the elevating conveyor unit 7 adjacent to the downstream side is conveyed. In addition, the conveyor unit 2 may be assigned the symbol 2A, and the conveyor unit 2 adjacent to the upstream side of the conveyor unit 2 may be referred to as the upstream conveyor unit 2B. The conveyor unit 2 adjacent to the downstream side of the conveyor unit 2A is referred to as a downstream-side conveyor unit 2C. That is, in FIG. 6, when the elevator conveyor unit 7 adjacent to the elevator conveyor unit 7 is set as its own conveyor unit 2A, the first adjacent to the upstream side of the rotary conveyor unit 6 The first-type conveyor unit 4 becomes the upstream-side conveyor unit 2B, and the second-type conveyor unit 5 and the elevating conveyor unit 7 adjacent to the downstream side of the rotary conveyor unit 6 become the downstream-side conveyor unit 2C. In addition, although no symbol is added in FIG. 6, when the lifting conveyor unit 7 is set as its own conveyor unit 2A, the turning conveyor unit 6 adjacent to the upstream side of the lifting conveyor unit 7 becomes The upstream conveyor unit 2B and the downstream conveyor unit 2C do not exist. As described above, in the conveyor unit 2, one of the upstream conveyor unit 2B and the downstream conveyor unit 2C may not exist, or one of the upstream conveyor unit 2B and the downstream conveyor unit 2C may exist. Or there are multiple cases on both sides.

Further, the rotary conveyor unit 6 includes a plurality of downstream-side conveyor units 2C, and one of the plurality of downstream-side conveyor units 2C is set as a predetermined downstream-side unit 2C '. Specifically, as shown in FIG. 6, in the rotary conveyor unit 6 adjacent to the elevator conveyor unit 7, the downstream conveyor unit 2C includes the second conveyor unit 5 and the elevator conveyor unit. 7. However, among these two conveyor units 2, the first type of conveyor unit 4 is set as a predetermined downstream-side unit 2C '.

The control unit 12 of the conveyor unit 2 stores the speed limit information and the change amount information. The speed limit information is information showing the speed limit of the conveyor unit 2 provided with the control unit 12. The change amount information is displayed on the Information on the variable amount of change in the conveying speed of the articles in the own conveyor unit 2. As shown in FIG. 7, as the conveying speed of the articles in the conveyor unit 2, 1 speed (1st), 2 speed (2nd) faster than 1 speed, 3 speed (3rd) faster than 2 speed, And 4th (4th) faster than 3rd. In this embodiment, the first speed is set to 15 m / min, the second speed is set to 30 m / min, the third speed is set to 45 m / min, and the fourth speed is set to 60 m / min. In addition, one of the limit speeds, namely, the normal speed limit is the upper limit of the conveyance speed of the articles conveyed in the conveyor unit 2. In this embodiment, it is set to 60 m / min, which is the same as the 4 speed, or the same as the 2 speed. 30m / min.

The first type of conveyor unit 4 can transfer the article to the conveyor unit 2 adjacent to the downstream side at a speed when the article has stopped on the conveyor unit 10. In addition, the first type of conveyor unit 4 allows the articles received from the conveyor unit 2 adjacent to the upstream side at 1 speed to stop on its own conveyor unit 2 and to be transferred to the downstream side as it is at 1 speed. The adjacent conveyor unit 2 and the speed increase to 2 speed are transferred to the conveyor unit 2 adjacent to the downstream side. In addition, the first type of conveyor unit 4 can reduce the speed of items received from the conveyor unit 2 adjacent to the upstream side to the conveyor unit 2 adjacent to the downstream side by decelerating to 1 speed at 2 speeds. The 2 speed is transferred to the conveyor unit 2 adjacent to the downstream side as it is, and the speed is increased to 3 speed to transfer to the conveyor unit 2 adjacent to the downstream side. In addition, the first type of conveyor unit 4 can reduce the speed of the articles received from the conveyor unit 2 adjacent to the upstream side at 3 speeds to 2 speeds and transfer them to the conveyor unit 2 adjacent to the downstream side. The 3 speed is transferred to the conveyor unit 2 adjacent to the downstream side as it is, and the speed is increased to 4 speed to transfer to the conveyor unit 2 adjacent to the downstream side. In addition, the first type of conveyor unit 4 can transfer the articles received from the conveyor unit 2 adjacent to the upstream side at the 4 speed to the conveyor unit 2 adjacent to the downstream side at the 4 speed as it is and decelerate. At 3 speeds, it is handed over to the conveyor unit 2 adjacent on the downstream side.

That is, in the first conveyor unit 4, the speed of 4 speeds, that is, 60 m / min is the normal-time speed limit of the own conveyor unit 2, and the speed-limit information that displays this normal-time speed limit is stored in the control section. 12 in. In the first type of conveyor unit 4, the value of the first speed is displayed (the value of "15" when the vehicle is accelerated from the stopped state to the first speed or when it is decelerated from the first speed to the stopped state) or the first speed is displayed. The value of the speed difference from the 2nd speed (the value of "15" when accelerating from 1st to 2nd speed or decelerating from 2nd to 1st speed), etc. The amount of change in the conveying speed is shifted, and the amount of change information showing the amount of change is stored in the control unit 12.

The second type of conveyor unit 5 can transfer the article to the adjacent to the downstream side at any one of the speeds of 1 speed, 2 speed, 3 speed, and 4 speed when the article has stopped on the conveyor section 10. Conveyor unit 2. In addition, when the second conveyor unit 5 receives an article from the conveyor unit 2 adjacent to the upstream side at any of the first speed, the second speed, the third speed, and the fourth speed, it can make the article It stops on its own conveyor unit 2 and can deliver the article to the downstream-side conveyor unit 2C at any of the first speed, the second speed, the third speed, and the fourth speed. In the second type of conveyor unit 5, a speed of 60 m / min, which is a 4-speed speed, is the normal-time speed limit of the own conveyor unit 2, and the speed-limit speed information that displays this normal-time speed limit is stored in the control unit 12. In the second type of conveyor unit 5, the value of the 4th speed (the value of "60" when accelerating from the stopped state to the 4th speed or the case of decelerating from the 4th speed to the stopped state) and the like are displayed. The own conveyor unit 2 can change the amount of change in the conveying speed of the articles, and store the amount of change information showing the amount of change in the control unit 12. As described above, the amount of change of the second type of conveyor unit 5 (particularly in the case where plural stages of speed change can be performed in the own conveyor unit 2) is larger than the amount of change of the first type of conveyor unit 4.

The elevating conveyor unit 7 and the rotating conveyor unit 6 can transfer the article to the conveyor unit 2 adjacent to the downstream side at a speed when the article is stopped on the conveyor unit 10. In addition, the lifting conveyor unit 7 and the rotary conveyor unit 6 can stop the articles received from the upstream conveyor at one speed on their own conveyor unit 2 and transfer them to the downstream side as they are at one speed. Neighbor's conveyor unit 2. In addition, the rotary conveyor unit 6 and the lifting conveyor unit 7 can transfer the articles received from the conveyor unit 2 adjacent to the upstream side at the second speed to the conveyor unit adjacent to the downstream side at the second speed. 2. In the rotary conveyor unit 6 and the elevating conveyor unit 7, the 2-speed speed of 30 m / min is the normal-time speed limit of the own conveyor unit 2, and the speed-limit speed information that displays this normal-time speed limit is stored in the control Department 12. In addition, the value of the speed of the first speed is displayed in the swing conveyor unit 6 and the lift conveyor unit 7 (the value of "15" when the speed is accelerated from a stopped state to the speed 1 or when the speed is decelerated from the speed 1 to the stopped state). Or a value of 0 (a value of "0" in the case of maintaining a 2 speed), etc., is a change amount that can change the conveying speed of the article in its own conveyor unit 2, and the change amount information of the change amount is displayed Stored in the control section 12. As such, the amount of change of the rotary conveyor unit 6 or the lifting conveyor unit 7 (especially when receiving at 2 speeds) will be smaller than the amount of change of the first conveyor unit 4 or the second conveyor unit 5 Less change.

The control unit 12 of the conveyor unit 2 stores the address information of its own conveyor unit 2, the address information of the conveyor unit 2 adjacent to the upstream side of its own conveyor unit 2, and its own conveyor unit. Address information of the conveyor unit 2 adjacent to the downstream side of 2. Specifically, for example, in the rotary conveyor unit 6 adjacent to the lifting conveyor unit 7 in FIG. 6, the address information of its own conveyor unit 2 and the conveyor adjacent to the upstream side are stored. Address information of unit 2 which is the first type of conveyor unit 4 and address information of the conveyor unit 2 which is adjacent to the downstream side, that is, the second type of conveyor unit 5 and the lifting conveyor unit 7, but other information is not stored Address information for conveyor unit 2 of.

The control unit 12 of the conveyor unit 2 stores, in addition to the above-mentioned normal-time speed limitation, information indicating an abnormal-time speed limitation that is lower than the normal-speed limitation speed as the speed limitation. In addition, the control unit 12 of the conveyor unit 2 executes speed limit setting control. When the own conveyor unit 2 does not have an abnormality, the speed limit setting is set to the normal speed limit, and the speed limit is set by itself. When an abnormality has occurred in the conveyor unit 2, the speed limit is set to the speed limit during an abnormality. The control unit 12 of the conveyor unit 2 performs the speed limit setting control at a time interval set in advance. In addition, the control unit 12 of any of the first type conveyor unit 4, the second type conveyor unit 5, the swing conveyor unit 6, and the lifting conveyor unit 7 sets the limit speed at the time of abnormality to 0 m / min. .

The communication unit 11 (the second communication unit 11B) of the conveyor unit 2 is configured such that, among the plurality of conveyor units 2 constituting the conveyor device 1, only the conveyor adjacent to the conveyor unit 2 of the conveyor unit 2 is configured. Units 2 (conveyor unit 2 adjacent to the upstream side and conveyor unit 2 adjacent to the downstream side) communicate.

The control device H sends the destination information of the conveyance unit 2G which is the conveyance destination, which is the conveyance destination unit 2G, to the conveyance origin unit 2S which is the conveyance unit 2 of the conveyance origin. This transfer destination information includes information specific to the article transferred to the transfer destination unit 2G. In the conveyor device 1, the transfer start unit 2S, the transfer destination unit 2G, and the intermediate unit 2M (located in the transfer start unit 2S and the transfer destination in the transfer path are based on the transfer information that has been sent to the transfer origin unit 2S). Each of the one or a plurality of conveyor units 2) between the ground units 2G sends and receives information between the adjacent conveyor units 2 and sets a speed mode. The speed mode is displayed as shown in Figure 7 to FIG. 10 shows a mode of the article transfer speed when the article is transferred from the transfer starting unit 2S to the transfer destination unit 2G, and according to this speed mode, the article is transferred from the transfer starting unit 2S to the transfer destination unit 2G.

FIG. 7 shows a speed pattern when only the first type of conveyor units 4 are arranged. As shown in FIG. 7, when the conveyor unit 2 is connected and arranged from the transfer origin unit 2S to the transfer destination unit 2G, as the articles leave the transfer origin unit 2S, the transfer speed of the articles is gradually increased step by step. It is lifted up, and as the article approaches the transfer destination unit 2G, the conveyance speed of the article is reduced step by step, so that the article is stopped at the first conveyor unit 4 of the transfer destination unit 2G.

FIG. 8 shows a speed pattern in a case where the first conveyor unit 4, the swing conveyor unit 6, and the lifting conveyor unit 7 are arranged. As shown in FIG. 8, when the conveyor unit 2 is connected from the transfer origin unit 2S to the transfer destination unit 2G, as the articles leave the transfer origin unit 2S, the first conveyor unit 4 moves the The conveying speed of the articles is increased step by step (the conveying speed is maintained in the rotary conveyor unit 6), and the conveying speed of the articles is approached in the first conveyor unit 4 with the approach of the destination unit 2G. Lowering step by step (maintaining the conveying speed in the rotary conveyor unit 6) stops the articles in the first conveyor unit 4 of the conveying destination unit 2G.

FIG. 9 shows a speed pattern when the first conveyor unit 4, the second conveyor unit 5, and the swing conveyor unit 6 are arranged. As shown in FIG. 9, when the conveyor unit 2 is connected to the transfer starting unit 2S and the destination unit 2G, the conveying speed of the article is increased to the second conveyor unit 5 that is the transfer starting unit 2S. Up to the highest speed, and with the approach of the destination unit 2G, the second type of conveyor unit 5 reduces the speed by two stages, and the first type of conveyor unit 4 reduces the speed by one stage (at the rotary conveyor unit 6 The medium speed is maintained), and the articles are stopped at the rotary conveyor unit 6 of the transfer destination unit 2G.

FIG. 10 shows a speed pattern in the case where an abnormality occurs in the third first type conveyor unit 4 upstream from the transfer destination unit 2G when only the first type of conveyor units 4 are arranged. . As shown in FIG. 10, when an abnormality occurs in one of the first conveyor units 4 and becomes the abnormal unit 2T, as the articles leave the transport starting unit 2S, the transport speed of the articles is increased step by step. And as the article approaches the abnormal unit 2T, the conveying speed of the article is reduced step by step, so that the article is stopped on the conveyor unit 2 adjacent to the upstream of the abnormal unit 2T.

Next, setting of the speed mode as shown in FIGS. 7 to 10 will be described. When the conveyor unit 2 has received the transfer destination information from the control device H, the transfer destination information is transmitted to the conveyor unit 2 adjacent to the downstream side. When the conveyer unit 2 has received the conveyance destination information from the conveyer unit 2 adjacent to the upstream side, the conveyance destination unit 2G shown in the conveyance destination information is not its own conveyer unit 2 In the case of the transfer destination information, it is sent to the conveyor unit 2 adjacent to the downstream side. If the transfer destination unit 2G shown in the transfer destination information is its own conveyor unit 2, the transfer destination information is not transmitted. The transport destination information is transmitted to the conveyor unit 2 adjacent to the downstream side.

That is, the control device H sends the transfer destination information to the transfer origin unit 2S, and the transfer origin unit 2S receives the transfer destination information from the control device H. The control unit 12 of the transport origin unit 2S transmits the transport destination information that has been received from the control device H to the conveyor unit 2 adjacent to the downstream side. The control unit 12 of the intermediate unit 2M receives the received destination unit 2G because the destination unit 2G shown in the destination information received from the conveyor unit 2 adjacent to the upstream side is not its own conveyor unit 2. The transport destination information is transmitted to the conveyor unit 2 adjacent to the downstream side. When the control unit 12 of the intermediate unit 2M has a plurality of conveyor units 2 adjacent to the downstream side, the conveyance destination unit 2G shown in the received conveyance destination information is adjacent to the downstream side. In the case of any of the conveyor units 2, the transfer destination information is transmitted to the transfer destination unit 2G, and the transfer destination unit 2G shown in the received transfer destination information is not a transport adjacent to the downstream side In the case of any one of the machine units 2, the transfer destination information is transmitted to a predetermined downstream unit 2C '. Since the control unit 12 of the transport destination unit 2G is shown in the transport destination information received from the conveyor unit 2 adjacent to the upstream side, the transport destination unit 2G is its own conveyor unit 2 and is not The side-adjacent conveyor unit 2 transmits the conveyance destination information. As described above, the control unit 12 transmits the destination information received from the control device H or the conveyor unit 2 adjacent to the upstream side to the conveyor unit 2 adjacent to the downstream side, thereby transmitting the destination of the conveyance. The local information is sequentially transmitted from the transfer start unit 2S to the transfer destination unit 2G.

The control unit 12 of the transport destination unit 2G changes the indicated information of the amount of change corresponding to its own conveyor unit 2 in response to the transport destination information received from the conveyor unit 2 adjacent to the upstream side. The amount of speed is set to a receivable speed, and the receivable speed is transmitted to the conveyor unit 2 adjacent to the upstream side. Specifically, for example, when an article is stopped on its own conveyor unit 2 and its own conveyor unit 2 is the first type of conveyor unit 4, "15" is set as the change amount. . The control unit 12 of the transport destination unit 2G sets the third set speed of the transport destination unit 2G at 15 m / min corresponding to 15 shown in this variation. In addition, the lower speed (for example, 15 m / min) of the third set speed and the speed limit of the own conveyor unit 2 (60 m / min in the case of the normal speed limit speed) is set as the own conveyor. The receivable speed of the unit 2 is transmitted to the conveyor unit 2 adjacent to the upstream side by transmitting information (e.g., information indicating 1 speed) indicating the receivable speed (e.g., 15 m / min). Incidentally, when the article is stopped on its own conveyor unit 2 and the own conveyor unit 2 is a rotary conveyor unit 6 or a lifting conveyor unit 7, "15" is set as a change the amount. When the article is stopped on its own conveyor unit 2 and in the case of the second conveyor unit 5, "60" is set as the amount of change.

The control unit 12 of the intermediate unit 2M executes the first setting control when the article is transferred from the transfer origin unit 2S to the transfer destination unit 2G. This first setting control is a control for setting the conveyance in order to stop the article at the conveyance destination unit 2G by sequentially transmitting the receivable speed from the conveyance destination unit 2G to the upstream conveyor unit 2. The receivable speed of each of the machine units 2, where the receivable speed is the speed at which the own conveyor unit 2 can receive articles from the conveyor units 2 adjacent on the upstream side. That is, in the first setting control, each of the conveyor units 2 is a receivable speed received from the conveyor unit 2 adjacent to the downstream side, plus the change amount information of the own conveyor unit 2 The speed obtained from the amount of change shown is set as the first set speed of the own conveyor unit 2, and the lower speed between the first set speed and the limit speed of the own conveyor unit 2 is set as its own The receivable speed of the conveyor unit 2 is transmitted to the conveyor unit 2 adjacent to the upstream side.

Specifically, for example, when the conveyor unit 2 adjacent to the downstream side receives articles at 1 to 4 speeds, and when the own conveyor unit 2 is the first conveyor unit 4, the setting is set. "15" is the amount of change. The control unit 12 of the transport destination unit 2G is shown by the receivable speed (e.g., 15 m / min) received from the conveyor unit 2 adjacent to the downstream side, plus the change information of its own conveyor unit 2 The speed (for example, 30 m / min) obtained by the amount of change of "15" is set as the first set speed of the own conveyor unit 2. And, the lower speed (for example, 30m / min) of the first set speed (for example, 30m / min) and the limit speed of the own conveyor unit 2 (60m / min in the case of the limit speed in the normal case). ), Set to the receivable speed of its own conveyor unit 2, and send information (e.g., display 2 speed information) showing the receivable speed (e.g., 30 m / min) to the conveyor adjacent to the upstream side Unit 2. Incidentally, when the conveyor unit 2 adjacent to the downstream side receives articles at 1 to 4 speeds, and when the own conveyor unit 2 is a swing conveyor unit 6 or a lifting conveyor unit 7, it is Set "0" as the amount of change. Further, in a case where the conveyor units 2 adjacent to the downstream side receive articles at 1 to 4 speeds and in the case of the second conveyor unit 5, "60" is set as the amount of change.

The control unit 12 of the transport origin unit 2S sets the speed corresponding to the change amount indicated by the change amount information of the own conveyor unit 2 according to the receivable speed received from the conveyor unit 2 adjacent to the downstream side. Is the handover speed, and this handover speed is sent to the conveyor unit 2 adjacent on the downstream side. Specifically, for example, in the case where the transportation of the articles on the own conveyor unit 2 is started and the own conveyor unit 2 is the first type conveyor unit 4, "15" is set as The amount of change. The control unit 12 of the transfer destination unit 2G sets 15 mm / min corresponding to 15 shown in the amount of change as the transferable speed of the transfer destination unit 2G. In addition, the lower speed between this transferable speed and the receivable speed received from the conveyor unit 2 adjacent to the downstream side is set as the transfer speed of the own conveyor unit 2, and the transfer speed of the transfer speed is displayed. Information (for example, information showing 1 speed) is sent to the conveyor unit 2 adjacent to the downstream side. Incidentally, when the transportation of the articles on the own conveyor unit 2 is started, and when the own conveyor unit 2 is the rotary conveyor unit 6 or the lifting conveyor unit 7, it is set to "15". As the amount of change. When the conveyance of the articles on the own conveyor unit 2 is started and when the own conveyor unit 2 is the second conveyor unit 5, "60" is set as the amount of change.

The control unit 12 of the intermediate unit 2M executes the second setting control when the article is transferred from the transfer start unit 2S to the transfer destination unit 2G. This second setting control is a control for sequentially transferring the transfer speed from the transfer start unit 2S to the conveyor unit 2 on the downstream side when the article transfer is started from the transfer start unit 2S, and The transfer speed of each of the conveyor units 2 is set, where the transfer speed is the speed at which the own conveyor unit 2 transfers articles to the conveyor units 2 adjacent on the downstream side. That is, in the second setting control, each of the conveyor units 2 is shown by the transfer speed received from the conveyor unit 2 adjacent to the upstream side, plus the change amount information of its own conveyor unit 2 The speed obtained by the amount of change is set as the second set speed of the own conveyor unit 2, and the second set speed, the receivable speed received from the conveyor unit 2 adjacent to the downstream side, and itself The lowest speed among the limited speeds of the conveyor unit 2 is set to the transfer speed of the own conveyor unit 2 and the transfer speed is sent to the conveyor unit 2 adjacent to the downstream side.

Specifically, for example, in a case where an item is received from the conveyor unit 2 adjacent to the upstream side at 1 to 4 speeds, and when the own conveyor unit 2 is the first conveyor unit 4, it is Set "15" as the amount of change. The control unit 12 of the transport destination unit 2G is shown by the transfer speed (for example, 15 m / min) received from the conveyor unit 2 adjacent to the upstream side, plus the change information of the own conveyor unit 2 The speed (for example, 30 m / min) obtained by the amount of change "15" is set as the second set speed of the conveyor unit 2 itself. In addition, the second set speed (for example, 30 m / min), the speed limit of the own conveyor unit 2 (60 m / min in the case of a normal speed limit), and the conveyor unit adjacent to the downstream side Among the receivable speeds of 2 (for example, 45m / min), the lower speed (for example, 30m / min) is set to the transfer speed of the conveyor unit 2 of the same, and the transfer speed (for example, 30m / min) will be displayed The information (for example, information showing 2 speeds) is sent to the conveyor unit 2 adjacent to the downstream side. Incidentally, when an item is received at a speed of 1 or 2 from a conveyor unit 2 adjacent to the upstream side, and when the own conveyor unit 2 is a swing conveyor unit 6 or a lift conveyor unit 7, Set "0" as the amount of change. When the conveyor unit 2 adjacent to the upstream side receives articles at 1 to 4 speeds, and when its own conveyor unit 2 is the second conveyor unit 5, it is set to "60". As the amount of change.

In this way, first, the transfer destination information sent from the control device H to the transfer origin unit 2S is sequentially transferred from the transfer origin unit 2S to the transfer destination unit 2G through one or a plurality of intermediate units 2M. . Next, the information indicating the receivable speed is sequentially transferred from the transfer destination unit 2G to the transfer starting unit 2S through one or a plurality of intermediate units 2M. As shown in FIG. 11, the receivable speed is set to a speed that does not exceed the limit speed of the intermediate unit 2M or the limit speed of the transfer destination unit 2G. In FIG. 11, the receivable speed is shown by a solid line. In addition, the information showing the transfer speed is sequentially transferred from the transfer start unit 2S to the transfer destination unit 2G through one or a plurality of intermediate units 2M. As shown in FIG. 12, the transfer speed is set to a speed that does not exceed the limit speed and receivable speed of the intermediate unit 2M, or a speed that does not exceed the limit speed and receivable speed of the transfer destination unit 2G. Further, in FIG. 12, the receivable speed is shown by a broken line, and the handover speed is shown by a solid line.

The control unit 12 of the transport origin unit 2S executes transport start control. This conveyance start control is to control the conveyor unit 10 of its own conveyor unit 2 after starting the drive of the conveyor unit 10 by letting the conveyor unit 10 hand over articles at the transfer speed of its own conveyor unit 2 To the conveyor unit 2 adjacent on the downstream side. The control unit 12 of the intermediate unit 2M performs the conveyance control. This conveyance control is to control the conveyor unit 10 of its own conveyor unit 2 by driving the conveyor unit 10 at the transfer speed received from the conveyor unit 2 adjacent to the upstream side, and from the upstream side After the adjacent conveyor unit 2 receives the articles, the conveyor unit 10 is driven at the transfer speed of its own conveyor unit 2 to transfer the articles to the conveyor unit 2 adjacent to the downstream side. In the conveyance control, when the conveyor unit 2 itself is a swing conveyor unit 6 and there are a plurality of conveyor units 2 adjacent to the downstream side, the conveyance destination information shown in the received When the transfer destination unit 2G is any one of the conveyor units 2 adjacent to the downstream side, the conveyor unit 10 and the turning unit 15 are controlled to transfer the articles to the transfer destination unit 2G. When the transfer destination unit 2G shown in the received transfer destination information is not any of the conveyor units 2 adjacent to the downstream side, the conveyor unit 10 and the turning unit 15 are controlled to transfer the articles to a predetermined downstream Side unit 2C '. The control unit 12 of the transport destination unit 2G executes the transport end control. This conveyance end control is to control the conveyor unit 10 of its own conveyor unit 2 by driving the conveyor unit 10 at a transfer speed received from the conveyor unit 2 adjacent to the upstream side, and from the upstream side. After receiving the articles, the side-adjacent conveyor unit 2 stops driving the conveyor 10 to stop the articles on its own conveyor unit.

Next, control of the communication control board 12A and control of the drive board 12B will be described. The communication control substrate 12A executes the first setting control and the second setting control, and transmits the transfer speed of the conveyor unit 2 adjacent to the upstream side, the transfer speed of the own conveyor unit 2A, and the stop distance information to the drive substrate 12B. . Furthermore, in the present embodiment, the stop distance information is information that is set to display the distance from the position where the article stops after the article is detected by the second article detection sensor 13B. However, the stop distance information may be information showing only the stop of the article. In this case, when the drive substrate 12B receives the stop distance information, it will carry and stop the article at a set distance set in advance after the article is detected by the second article detection sensor 13B.

That is, the communication control substrate 12A sets the receivable speed of its own conveyor unit 2A according to the receivable speed of the conveyor unit 2 adjacent to the downstream side received by the second communication unit 11B, and sets the receivable speed of its own conveyor unit 2A from the second The communication unit 11B transmits the receivable speed of the own conveyor unit 2A to the conveyor unit 2 adjacent to the upstream side. In addition, the communication control substrate 12A executes the second setting control, which sets its own conveyor unit according to the transfer speed of the conveyor unit 2 adjacent to the upstream side received by the second communication unit 11B. The transfer speed of 2A is transmitted from the second communication unit 11B to the transfer speed of the own conveyor unit 2A to the conveyor unit 2 adjacent to the downstream side. The communication control board 12A transfers the transfer speed of the conveyor unit 2 adjacent to the upstream side received by the second communication unit 11B and the transfer speed of the own conveyor unit 2A set in the second setting control. , Sent to the driving substrate 12B. In addition, the communication control board 12A transmits the stop distance information to the drive board 12B when the own conveyor unit 2A is the transport destination unit 2G.

The driving substrate 12B receives the detection information from the article detection sensor 13 and executes the conveyance control and the conveyance stop control. That is, the drive substrate 12B receives the transfer speed of the conveyor unit 2 adjacent to the upstream side and the transfer speed of the own conveyor unit 2A. In addition, the drive substrate 12B drives the electric motor 10B so that the transfer speed of the conveyor body 10A becomes the transfer speed of the conveyor unit 2 adjacent to the upstream side. After that, when the drive substrate 12B receives the detection information indicating that the article has been detected from the first article detection sensor 13A, it will be regarded as having received the article from the conveyor unit 2 adjacent to the upstream side, and will The electric motor 10B is driven so that the transfer speed of the conveyor body 10A becomes the transfer speed of the own conveyor unit 2A. When the drive substrate 12B has received the stop distance information together with the transfer speed of the conveyor unit 2 adjacent to the upstream side, first, the drive substrate 12B drives the electric motor 10B to the transfer speed of the conveyor body 10A. This is the transfer speed of the conveyor units 2 adjacent on the upstream side. After that, when the information of the detected article is received from the second article detection sensor 13B, the electric motor 10B is driven to move the article by a set distance and stop the article on the conveyor body 10A.

As described above, the conveyance control is to drive the substrate 12B based on the transfer speed (transfer speed of the conveyor unit 2 adjacent to the upstream side and transfer speed of the own conveyor unit 2A) that has been received from the communication control substrate 12A. The electric motor 10B is driven. The conveyance stop control is based on the transfer speed and stop distance information of the conveyor unit 2 adjacent to the upstream side received from the communication control board 12A, and the detection information received from the second article detection sensor 13B. The drive substrate 12B drives the electric motor 10B so that the article stops on its own conveyor section. In addition, when the own conveyor unit 2A is the rotary conveyor unit 6, the control of the turning part 15 in the conveyance control may be controlled by the drive substrate 12B, or may be controlled by the communication control substrate 12A. The control may be controlled by a substrate dedicated to the driving section of the turning section 15.

As described above, the control unit 12 executes the first setting control, the second setting control, and the transfer control when the article is transferred from the transfer start unit 2S to the transfer destination unit 2G. In addition, the control unit 12 of the rotary conveyor unit 6 controls the conveyor unit 10 so that the article stops at itself when the destination unit 2G shown in the received destination information is its own conveyor unit 2. The conveyor unit 2. In addition, the control unit 12 of the rotary conveyor unit 6 communicates when the destination unit 2G shown in the received destination information is any of a plurality of conveyor units 2 adjacent to the downstream side. The unit 11 and the conveyor unit 10 are controlled to send the transfer destination information to the transfer destination unit 2G, and transfer the articles to the transfer destination unit 2G. The control unit 12 of the rotary conveyor unit 6 communicates when the transfer destination unit 2G indicated by the received transfer destination information is not any of the plurality of conveyor units 2 adjacent to the downstream side. The unit 11 and the conveyor unit 10 are controlled to transmit the destination information to a predetermined downstream-side unit 2C 'and transfer the articles to the predetermined downstream-side unit 2C'. Incidentally, when the conveyor unit 2 receives an article from the conveyor unit 2 adjacent to the upstream side, the conveyor unit 10 has been driven at a certain speed (the transfer speed of the conveyor unit 2 adjacent to the downstream side). Get down to receive items. When the conveyor unit 2 transfers the articles to the conveyor unit 2 adjacent to the downstream side, the articles are transferred with the conveyor unit 10 being driven at a constant speed (the transfer speed of the own conveyor unit 2). .

As described above, the control unit 12 of the conveyor unit 2 located on the conveyance path performs control as described above, thereby performing the following to set the speed mode. That is, first, the conveyor device 1 sequentially transmits the transfer destination information that has been sent from the control device H to the transfer start unit 2S toward the conveyor unit 2 adjacent to the downstream side to send the transfer destination information To transfer destination unit 2G. Next, the conveyor device 1 sets the receivable speed in order from the conveyor unit 2 located on the downstream side as the destination unit 2G receives the destination information. Thereafter, the conveyor device 1 sequentially sets the transfer speed from the conveyor unit 2 located on the upstream side, and sequentially transfers the articles to the conveyor unit 2 adjacent to the downstream side at the transfer speed in order to transfer the articles. This article is transferred to the transfer destination unit 2G.

Next, a case where an abnormality has occurred in the conveyor unit 2 will be described. When the control unit 12 has an abnormality in its own conveyor unit 2, it changes the speed limit from the normal speed limit to the speed limit during an abnormality, and displays an abnormality indicating that the own conveyor unit 2 has an abnormality. The information is transmitted to the control device H together with the address information of the own conveyor unit 2. In this embodiment, the speed limit at the time of abnormality is set to 0 m / min. Therefore, when the speed limit is set to the speed limit during an abnormality, the speed limit is lower than the first speed in the intermediate unit 2M, and the speed limit is lower than the speed limit in the transfer destination unit 2G. The third set speed is lower, so the control unit 12 of the intermediate unit 2M or the control unit 12 of the transfer destination unit 2G sets the speed limit speed at the time of abnormality to a receivable speed, and displays the receivable speed (0m / min ) Information (for example, information showing 0 speed) is sent to the conveyor unit 2 adjacent to the upstream side. In addition, the control unit 12 may change the speed limit to the speed limit during an abnormality when the article has stopped on its own conveyor unit 2.

In the case where the transfer start unit 2S receives the information showing the 0 speed from the conveyor unit 2 adjacent to the downstream side as the information showing the receivable speed, the transfer speed is set to 0 m / min, so the transfer will not start. In the case where the intermediate unit 2M receives the information showing the 0 speed from the conveyor unit 2 adjacent to the downstream side as the information showing the receivable speed, it sends the information showing the 1 speed as the receivable speed to the The conveyor unit 2 adjacent to the upstream side controls the conveyor unit 10 so that the articles which have been received from the conveyor unit 2 adjacent to the upstream side stop on the conveyor unit 2 itself.

In addition, as shown in FIG. 11, after the transferable speed is transmitted, if the own conveyor unit 2 has an abnormality, the first setting control is performed in a state where the speed limit is set to the speed limit during the abnormality, and The conveyor unit 2 located on the upstream side of the conveyor unit 2 is allowed to perform the first setting control and the second setting control again, thereby setting the receivable speed and the transfer speed shown in FIG. 13. In FIG. 13, the receivable speed is shown by a broken line, and the handover speed is shown by a solid line.

When the transfer destination information has been transmitted to the conveyor unit 2 adjacent to the downstream side, when the conveyor unit 2 adjacent to the downstream side has not transmitted the information in response to the transfer destination information, That is, it is determined that an abnormality has occurred in the conveyor unit 2 adjacent to the downstream side, and the receivable speed of the conveyor unit 2 adjacent to the downstream side is set to 0 speed, and the conveyor unit 2 adjacent to the downstream side is set. Together with the address information, it sends to the control device H information indicating that an abnormality has occurred in the conveyor unit 2 adjacent to the downstream side.

The control device H can grasp the existence of the abnormal unit 2T and the address of the abnormal unit 2T by using the abnormal occurrence information. The abnormal occurrence information is information sent from the conveyor unit 2 that has been abnormal, that is, the abnormal unit 2T. Or the information sent from the conveyor unit 2 adjacent to the upstream side of the abnormal unit 2T. Therefore, when the control device H transmits the transfer destination information to the conveyor device 1, the transfer starting unit 2S and the transfer destination unit 2G can be set to avoid the transfer path of the abnormal unit 2T.

In addition, the control device H has already transferred the transfer destination information to the conveyor device 1, and the transfer route is from the transfer start unit 2S that has sent the transfer destination information to the transfer destination unit 2G indicated by the transfer destination information. When there is an abnormal unit 2T on the way, the transmission destination information that has been transmitted is canceled, and new transfer destination information that does not include the abnormal unit 2T on the transportation path is transmitted. In this way, the control device H has sent the conveyor unit 2 that has returned the abnormality occurrence information, that is, the abnormal unit 2T, to the conveyance destination information on the conveyance path. The conveyor unit 2 located further upstream than the abnormal unit 2T sends cancellation information to cancel the transfer destination information, and sends new transfer destination information without the abnormal unit 2T on the transfer path.

2. Other Embodiments Next, other embodiments of the article transfer facility will be described.

(1) In the above embodiment, although the control device H sends the transfer destination information to the transfer destination unit 2S, the control device H may also send the transfer origin information to the transfer destination unit 2G. In this case, the control unit 12 of the transfer destination unit 2G sets the speed corresponding to the change amount indicated by the change amount information of the conveyor unit 2 in response to the transfer start point information received from the control device H. It is a receivable speed, and the receivable speed is sent to the conveyor unit 2 adjacent to the upstream side. The control unit 12 of the transport origin unit 2S may also be accompanied by receiving the The speed is received, and the speed corresponding to the change amount indicated by the change amount information of the own conveyor unit 2 is set as the transfer speed, and the transfer speed is transmitted to the conveyor units 2 adjacent to the downstream side.

(2) In the above-mentioned embodiment, although the conveyor unit 2 includes the first conveyor unit 4, the second conveyor unit 5, the swing conveyor unit 6, and the lifting conveyor unit 7, the conveyor unit 2 serves as the conveyor. The unit 2 may include only a part of these conveyor units 2. As the conveyor unit 2, the conveyor unit 2 may include a lifting unit 14 and a turning unit 15 in addition to all or a part of the conveyor units 2. Conveyor unit 2 and other types of conveyor unit 2.

(3) In the above-mentioned embodiment, although the variable amount of speed change is different between the first conveyor unit 4 and the second conveyor unit 5, the first conveyor unit 4 and the second conveyor unit 5 The conveyor unit 5 has the same amount of changeable speed. In addition, although the variable amount of change in speed can be changed in the first conveyor unit 4, the rotary conveyor unit 6, and the lifting conveyor unit 7, it can also be provided in the first conveyor unit 4, the rotary conveyor The unit 6 and the elevator conveyor unit 7 have the same amount of changeable speed. That is, the variable-speed change amount set for the conveyor unit 2 may be appropriately changed in accordance with the performance of the conveyor unit 2 and the like.

(4) Furthermore, the structures disclosed in each of the above embodiments can be applied in combination with the structures disclosed in other embodiments as long as no contradiction occurs. Regarding other structures, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various changes can be appropriately made without departing from the gist of the present invention.

3. Outline of the above embodiment The outline of the article transfer facility described above will be described below.

An article transporting device includes a conveyor device for transporting articles. The conveyor device is configured to connect and arrange a plurality of conveyor units along an article conveyance path, and each of the plurality of conveyor units is provided with a device for carrying articles. Conveyor section, a communication section that can communicate with other adjacent conveyor units, and a control section that controls the communication section and the conveyor section. The control section stores speed limit information and change amount information. The speed limit The information is information showing the speed limit of the aforementioned conveyor unit provided with the control unit, and the amount of change information is information showing the amount of change in which the conveying speed of the article can be changed in its own conveyor unit. Each of the aforementioned conveyor units transfers the articles received from the upstream conveyor unit to the downstream conveyor unit, which is adjacent to the upstream side of the aforementioned conveyor unit The aforementioned conveyor unit, the downstream side conveyor unit is downstream of the aforementioned conveyor unit In the case of the conveyor unit adjacent to the side, the control unit is in a case where the conveyor unit that is the article from the starting point of the article is the starting point unit, and the conveyor unit that is the destination of the article is the destination unit. , The first setting control, the second setting control, and the conveyance control are performed. The first setting control is the following control: in order to stop the article at the conveyance destination unit, the receivable speed is upstream from the conveyance destination unit. The aforementioned conveyor unit on the side performs relay transmission in order to set the aforementioned receivable speed of each of the aforementioned conveyor units, wherein the receivable speed is the own conveyor unit which can receive articles from the upstream conveyor unit The speed of the second setting control is a control for sequentially transferring the transfer speed from the transfer starting unit to the conveyor unit on the downstream side when the article is transferred from the transfer starting unit. Send to set the aforementioned handover speed of each of the aforementioned conveyor units, wherein the handover speed It is the speed at which the aforementioned conveyor unit transfers articles to the downstream conveyor unit. In the first setting control, each of the conveyor units is a unit configured to transfer the goods received from the downstream conveyor unit. The speed obtained by adding the received speed to the aforementioned change amount displayed by the aforementioned change amount information of the own conveyor unit is set as the first set speed of the own conveyor unit, and the first set speed and the own set speed The lower speed among the limit speeds of the aforementioned conveyor units is set to the aforementioned receivable speed of the own conveyor unit, and the receivable speed is transmitted to the upstream conveyor unit, in the second setting control Each of the aforementioned conveyor units is a speed obtained by adding the aforementioned change amount displayed by the aforementioned change amount information of the own conveyor unit to the aforementioned transfer speed received from the upstream conveyor unit, and setting Set the second set speed of the conveyor unit itself, and transfer the second set speed from the downstream conveyor The minimum speed among the receivable speed received by the unit and the limit speed of the own conveyor unit is set to the transfer speed of the own conveyor unit, and the transfer speed is sent to the downstream conveyor unit. The conveyance control is to control the conveyor unit of the conveyor unit of itself by driving the conveyor unit at the transfer speed received from the upstream conveyor unit, and from the upstream conveyor unit. After receiving the article, the conveyor unit is driven at the transfer speed of the conveyor unit of the own to transfer the article to the downstream conveyor unit.

According to this configuration, in the first setting control, the speed obtained by adding the receivable speed received from the downstream conveyor unit to the change amount of its own conveyor unit is set as the first setting speed. This first set speed is set such that when an article is received from the upstream-side conveyor unit at the first set speed, the conveying speed of the article can be accelerated and decelerated in its own conveyor unit, and the speed can be increased from the downstream side. The receivable speed received by the conveyor unit is the speed at which the downstream conveyor unit is handed over. And, in the first setting control, the lower speed among the first set speed and the limited speed is set as the receivable speed of the own conveyor unit. Since the receivable speed is set within a range that does not exceed the first set speed and the speed limit of the own conveyor unit, it is possible to receive articles received from the upstream conveyor unit at the receivable speed of the own conveyor unit. , Handed over to the downstream conveyor unit at the receivable speed of the downstream conveyor unit.

In the second setting control, the speed obtained by adding the handover speed received from the upstream conveyor unit to the change amount of its own conveyor unit is set as the second setting speed. This second set speed is set when the item can be received from the upstream conveyor unit at the transfer speed, the item's conveying speed is accelerated and decelerated in its own conveyor unit, and the second set speed is used to Speed at which the downstream conveyor unit is handed over. Further, in the second setting control, the lowest speed among the second set speed, the limited speed, and the receivable speed of the downstream conveyor unit is set as the transfer speed of the own conveyor unit. Since the transfer speed is set within a range that does not exceed the second set speed and limit speed of the own conveyor unit, and the receivable speed of the downstream conveyor unit, the transfer speed at the upstream conveyor unit can be changed from The articles received by the upstream conveyor unit are handed over to the downstream conveyor unit at a receivable speed of the downstream conveyor unit or lower.

In this way, since each of the plurality of conveyor units can allow the transfer speed of the upstream conveyor unit and the receivable speed of the downstream conveyor unit to be changed to change the conveying speed of the articles in its own conveyor unit, It does not require a speed command from an external control device, and can suppress the amount of information communication with the external control device.

Here, it is desirable that each of the plurality of conveyor units includes an abnormality detection unit that detects an abnormality of the conveyor unit of the self, and the control unit stores the speed and ratio that are normally restricted. The aforementioned normal time limit speed and lower speed abnormal time limit speed are displayed as the aforementioned speed limit information, and the speed limit setting control is performed based on the detection information of the abnormality detection section, and the speed limit control is performed on the conveyor unit itself. In the event of an abnormality, the speed limit is set to the normal speed limit. In the event of an abnormality in the conveyor unit itself, the speed limit is set to the speed limit in the abnormality and is set in advance. Time interval to perform the aforementioned limited speed setting control.

According to this configuration, in the case where the receivable speed of the own conveyor unit is set, if there is no abnormality in the own conveyor unit, the receivable speed is set with the normal limit speed as the upper limit. In the case of an abnormality, the receivable speed is set by limiting the speed at the time of abnormality as an upper limit. Therefore, in the event of an abnormality in its own conveyor unit, it is possible to suppress the item conveying speed in its own conveyor unit, or by setting the speed limit at the time of abnormality to 0, it is possible to prevent the conveyor unit that has experienced an abnormality. To receive items. In addition, since the speed limit setting control is performed at a preset time interval, even if the conveyor unit is abnormal after setting the receivable speed with the normal speed limit as the upper limit, it can still be executed later. Speed limit setting control sets the receivable speed with the speed limit at the time of abnormality as the upper limit.

Further, it is preferable that the conveyor unit includes a first conveyor unit and a second conveyor unit having a longer conveying distance than the first conveyor unit, and the second conveyor unit The aforementioned change amount of the machine unit is greater than the aforementioned change amount of the aforementioned first conveyor unit.

According to this configuration, compared with the first conveyor unit, the second conveyor unit has a longer article conveyance distance and a larger amount of change in the article conveyance speed. Therefore, a relatively long conveyance distance can be conveyed by the second conveyer device, and the conveyance speed of the articles can be greatly changed when conveying the goods by the second conveyer device.

Further, it is preferable that the conveyor unit includes a lifting conveyor unit, a swing conveyor unit, and a linear conveyor unit. The lifting conveyor unit includes a lifting portion for lifting and lowering an article, and the swing conveyor unit includes a swing. The turning portion is configured to rotate the conveyor portion around an axis in the vertical direction. The linear conveyor unit does not include the lifting body and the turning portion. The change amount of the lifting conveyor unit and the turning conveyance. The change amount of the machine unit is smaller than the change amount of the linear conveyor unit.

According to this configuration, since the lifting conveyor unit or the rotary conveyor unit is provided with a turning portion or a lifting portion compared to the linear conveyor unit, the configuration becomes complicated. In this way, by changing the amount of change of the elevator conveyor unit or the rotary conveyor unit with a relatively complicated structure, the amount of change is smaller than that of a linear conveyor unit with a relatively simple structure, so that a relatively straight line can be constructed. In the conveyor unit, the conveying speed of the article is greatly changed, and in a relatively complicated elevator conveyor unit or a rotary conveyor unit, the conveyance of the article is changed within the allowable range of the conveyor unit. speed.

Further, it is preferable to further include a control device for transmitting the conveyance information to the conveyor device, and the control device transmits the conveyance destination information indicating the conveyance destination unit to the conveyance origin unit, and the conveyance origin unit The control unit sends the transfer destination information received from the control device to the downstream conveyor unit, and the control unit of the transfer destination unit responds to the transfer received from the downstream conveyor unit. The destination information is set to set the speed corresponding to the change amount to the receivable speed, and the receivable speed is sent to the upstream conveyor unit, wherein the change amount is the change of the conveyor unit of itself. The amount of change displayed by the quantity information, the control unit of the transfer starting unit sets the speed corresponding to the change amount to the transfer speed, and sends the transfer speed to the downstream conveyor unit, wherein the change amount is Displayed by the aforementioned change information of the aforementioned conveyor unit The amount of change.

According to this configuration, the control device transmits the transfer destination information indicating the transfer destination unit to the transfer origin unit. The transfer origin unit sends the transfer destination information received from the control device to the downstream conveyor unit. Conveyor units other than the transfer origin unit and the transfer destination unit are transfer destinations received from the upstream conveyor unit. The information is sent to the downstream conveyor unit, and the destination unit receives the destination information from the upstream conveyor unit. In this way, as long as the control device sends the transfer destination information to the transfer start unit, the transfer destination information can be sequentially transmitted from the transfer start unit to the transfer destination unit, so that the control device and the transfer can be suppressed. The amount of information traffic between machine devices.

Further, it is preferable that the conveyor unit includes a conveyor body on which a conveyed article is placed, and a drive unit that drives the conveyor body, and the conveyor unit includes an article detection unit that is a conveyor unit that detects itself. The presence or absence of the above items, the control unit includes a communication control substrate and a driving substrate that controls the driving of the driving unit. The communication control substrate executes the first setting control and the second setting control, and controls the driving. The substrate transmits the transfer speed of the upstream conveyor unit, and the transfer speed and the stop distance information of the own conveyor unit. The drive substrate receives the detection information from the article detection unit, and executes the transfer control and the transfer stop. Control, the transfer control controls the drive unit based on the transfer speed received from the communication control board, and the transfer stop control is based on the stop distance information received from the communication control board and received from the article detection unit Control information The movable portion, so that the article is stopped on the conveyor unit itself.

According to this configuration, the conveyance control is to control the drive unit such that the drive substrate is placed on the upstream conveyor unit based on the transfer speed of the upstream conveyor unit and the transfer speed of its own conveyor unit received from the communication control substrate. The item is received from the upstream side conveyor unit at the transfer speed of 50%, and the item is transferred to the downstream side conveyor unit at the transfer speed of the own conveyor unit. The conveyance stop control is to stop the drive unit in such a way that the drive substrate is upstream based on the transfer speed and stop distance information of the upstream conveyor unit received from the communication control substrate, and the detection information received from the article detection unit. At the transfer speed of the side conveyor unit, an article is received from the upstream conveyor unit, and the received article is stopped on the conveyor section of the own conveyor unit. As described above, during the conveyance stop control, the communication control board does not need to receive detection information from the article detection section and transmits information for stopping the article to the drive board based on the received detection information, so that communication can be made. The control content of the control board is simplified. In addition, by simplifying the control content of the communication control board, the conveyance stop control can be performed quickly, and the conveyance of articles can be increased in speed. Industrial availability

The technology of the present disclosure can be applied to an article transporting apparatus provided with a conveyor apparatus for transporting articles.

1‧‧‧ conveyor device

2‧‧‧ conveyor unit

2A‧‧‧ own conveyor unit

2B‧‧‧ upstream conveyor unit

2C‧‧‧ downstream conveyor unit

2C’‧‧‧ specifies downstream unit

2G‧‧‧ Transfer destination unit

2S‧‧‧Transportation starting unit

2M‧‧‧Intermediate Unit

2T‧‧‧Exception Unit

4‧‧‧ the first type of conveyor unit (linear conveyor unit)

5‧‧‧ The second type of conveyor unit (linear conveyor unit)

6‧‧‧Swivel conveyor unit (divergent conveyor unit)

7‧‧‧lifting conveyor unit

10‧‧‧Conveyor Department

10A‧‧‧ conveyor body

10B‧‧‧ Electric Motor (Driver)

11‧‧‧ Ministry of Communications

11A‧‧‧First Communication Department

11B‧‧‧Second Communication Department

12‧‧‧Control Department (Anomaly Detection Department)

12A‧‧‧Communication Control Board

12B‧‧‧Drive board

13‧‧‧ Article detection sensor

13A‧‧‧First article detection sensor

13B‧‧‧Second article detection sensor

14‧‧‧ Lifting Department

14A‧‧‧Support

15‧‧‧ roundabout

H‧‧‧control device

U‧‧‧Unit

R1‧‧‧The first conveying path

R2‧‧‧Second Transfer Path

R3‧‧‧ connection path

X1‧‧‧ first direction

Y1‧‧‧ Third direction

Y2‧‧‧Fourth direction

FIG. 1 is a plan view of a conveyor device. Figure 2 is a plan view of a first conveyor unit. Fig. 3 is a plan view of a second conveyor unit. Fig. 4 is a plan view of a swing conveyor unit. Fig. 5 is a plan view of a lifting conveyor unit. Fig. 6 is a diagram showing communication between a conveyor device and a control device. FIG. 7 is a diagram of a speed pattern showing a conveying speed of an article. FIG. 8 is a diagram of a speed pattern showing a conveying speed of an article. FIG. 9 is a diagram of a speed pattern showing a conveyance speed of an article. FIG. 10 is a diagram showing a speed pattern in a case where an abnormal unit is present. Fig. 11 is a graph showing a receivable speed. Fig. 12 is a graph showing the receivable speed and the handover speed. FIG. 13 is a graph showing a receivable speed and a handover speed in a case where an abnormal unit is present. Fig. 14 is a control block diagram.

Claims (6)

An article conveying device includes: a conveyor device for conveying an article, the article conveying device having the following characteristics: the conveyor device is configured by connecting a plurality of conveyor units along a conveying path of the articles, and Each has a conveyor section on which items are conveyed, a communication section that can communicate with other adjacent conveyor units, and a control section that controls the communication section and the conveyor section. The control section stores speed limit information. And change amount information, the limited speed information is information showing the speed limit of the aforementioned conveyor unit provided with the control section, and the change amount information is displayed to change the conveying speed of the articles in the own conveyor unit Information of the amount of change, each of the plurality of the aforementioned conveyor units will transfer the articles received from the upstream conveyor unit to the downstream conveyor unit by handover, and the upstream conveyor unit is in its own The upstream side of the conveyor unit is adjacent to the aforementioned conveyor unit, and the downstream side conveyor unit It is the conveyor unit adjacent to the downstream side of the conveyor unit itself, and the control unit transfers the article from the starting point of the article conveying unit, that is, the starting point unit, to the conveying destination of the article. When the machine unit is the transport destination unit, the first setting control, the second setting control, and the transport control are performed. The first setting control is the following control: In order to stop the article at the transport destination unit, the The receiving speed is relayed from the conveying destination unit to the upstream conveyor unit in order to set the receivable speed of each of the conveyor units, where the receivable speed is its own conveyor unit The speed at which the articles can be received from the upstream conveyor unit, and the second setting control is a control for transferring the articles from the transportation starting unit to the downstream side when the articles are being transferred from the transportation starting unit. The above-mentioned conveyor unit performs relay transmission in order to set the One of the aforementioned transfer speeds, wherein the transfer speed is the speed at which the conveyor unit itself transfers articles to the downstream conveyor unit. In the first setting control, each of the conveyor units The speed obtained by adding the receivable speed received by the downstream conveyor unit to the change amount shown by the change information of the own conveyor unit is the first set speed of the own conveyor unit. And set the lower one of the first set speed and the limit speed of the conveyor unit of its own to the aforementioned receivable speed of its own conveyor unit, and send the receivable speed to the upstream conveyor Machine unit, in the second setting control, each of the conveyor units is displayed by adding the transfer speed received from the upstream-side conveyor unit to the change information of the conveyor unit itself. The speed obtained by the aforementioned change amount is set as the second set speed of the aforementioned conveyor unit, and The minimum speed among the second set speed, the receivable speed received from the downstream conveyor unit, and the limit speed of the own conveyor unit is set to the transfer speed of the own conveyor unit, and The transfer speed is sent to the downstream conveyor unit, and the transfer control is to control the conveyor unit of the conveyor unit of the conveyor unit by driving the conveyor at the transfer speed received from the upstream conveyor unit. After receiving the item from the upstream conveyor unit, the conveyor unit is driven at the transfer speed of the conveyor unit of its own to transfer the article to the downstream conveyor unit. For example, the article conveying equipment of claim 1, wherein each of the plurality of the aforementioned conveyor units is provided with an abnormality detecting section that detects an abnormality of the aforementioned conveyor unit, and the aforementioned controlling section stores a speed limit which is normally restricted And the abnormal speed limit information displayed at a lower speed than the normal speed limit is displayed as the speed limit information, and the speed limit setting control is performed based on the detection information of the abnormality detection unit, and the speed limit control is controlled by the aforementioned conveyor itself When there is no abnormality in the unit, the speed limit is set to the normal-time speed limit. When an abnormality occurs in its own conveyor unit, the speed limit is set to the speed-limit speed when the abnormality occurs. The set time interval performs the aforementioned speed limit setting control. If the article conveying equipment of claim 1 or 2, wherein the first conveyor unit is the aforementioned conveyor unit, and the second conveyor unit has a longer conveying distance than the first conveyor unit, and The aforementioned change amount of the aforementioned second conveyor unit is larger than the aforementioned change amount of the aforementioned first conveyor unit. The article conveying equipment according to claim 1 or 2, wherein the conveyor unit includes a lifting conveyor unit, a swing conveyor unit, and a linear conveyor unit. The lifting conveyor unit is provided with a lifting portion for lifting and lowering the article. The conveyor unit is provided with a turning portion that turns the conveyor portion around an axis in the vertical direction. The linear conveyor unit does not include the lifting body and the turning portion, and the aforementioned change of the lifting conveyor unit. The amount and the amount of change of the rotary conveyor unit are smaller than the amount of change of the linear conveyor unit. For example, the article transfer device of claim 1 or 2, further includes a control device for sending the transfer information to the conveyor device, and the control device sends the transfer destination information showing the transfer destination unit to the transfer origin unit, The control unit of the transport origin unit sends the transport destination information received from the control device to the downstream conveyor unit, and the control unit of the transport destination unit responds to the transport from the downstream conveyor. The transport destination information received by the unit sets the speed corresponding to the change amount to the receivable speed, and sends the receivable speed to the upstream conveyor unit, wherein the change amount is the own conveyance. The change amount displayed by the change amount information of the machine unit, the control unit of the transfer starting unit sets the speed corresponding to the change amount to the transfer speed, and sends the transfer speed to the downstream conveyor unit, Wherein the aforementioned variation is the aforementioned of the aforementioned conveyor unit The amount of change in the amount of information displayed. According to the item conveyance equipment of claim 1 or 2, wherein the conveyor section includes a conveyor body on which the conveyed articles are placed, and a drive section that drives the conveyor body, the conveyor unit includes an article detection section that detects The presence or absence of an item on its own conveyor unit, the control section is provided with a communication control substrate and a driving substrate that controls the driving of the driving section, and the communication control substrate performs the first setting control and the second setting control. And sending the transfer speed of the upstream conveyor unit, the transfer speed of the own conveyor unit, and the stopping distance information to the drive substrate, the drive substrate receives detection information from the article detection unit, and executes the foregoing The conveyance control and the conveyance stop control. The conveyance control controls the driving unit based on the transfer speed received from the communication control board, and the conveyance stop control is based on the transfer speed received from the communication control board and from the article. The aforementioned inspection received by the inspection unit Information to control the driving unit to stop the article on the conveyor unit itself.