WO2018038171A1 - Conveyor device and conveyor unit - Google Patents

Conveyor device and conveyor unit Download PDF

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Publication number
WO2018038171A1
WO2018038171A1 PCT/JP2017/030169 JP2017030169W WO2018038171A1 WO 2018038171 A1 WO2018038171 A1 WO 2018038171A1 JP 2017030169 W JP2017030169 W JP 2017030169W WO 2018038171 A1 WO2018038171 A1 WO 2018038171A1
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WO
WIPO (PCT)
Prior art keywords
conveyor
conveyor unit
unit
article
units
Prior art date
Application number
PCT/JP2017/030169
Other languages
French (fr)
Japanese (ja)
Inventor
伊東　一夫
橘　俊之
明 高永
Original Assignee
伊東電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 伊東電機株式会社 filed Critical 伊東電機株式会社
Priority to JP2018535743A priority Critical patent/JP6923217B2/en
Publication of WO2018038171A1 publication Critical patent/WO2018038171A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
    • B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for

Definitions

  • the present invention relates to a conveyor device for conveying an article to a predetermined position. Moreover, this invention relates to the conveyor unit which comprises a conveyor apparatus.
  • a conveyor device is installed in a delivery place, a pickup place, a warehouse, or the like.
  • a distributed control type conveyor apparatus in which a series of conveyor apparatuses are configured by a number of zones is known (Patent Document 1).
  • the conveyor device disclosed in Patent Document 1 is divided into a plurality of zones, each zone is provided with a zone controller, and the motors in each zone are controlled by the respective zone controllers.
  • a distributed control type conveyor apparatus including a zone having a branching function is also known (Patent Document 2).
  • the conveyor device is often fixed to the floor of a factory. Although the conveyor device is a structure, once it is installed, it is difficult to change the layout or the like. On the other hand, in the market, there is a demand for a conveyor device whose layout can be easily changed.
  • This invention develops the conveyor apparatus which can respond to the above-mentioned request
  • a conveyor apparatus for conveying an article has a plurality of conveyor units, and the conveyor unit moves the article, changes the attitude of the article, processes the article, measures the article, and measures the article. It has a function unit that executes at least one of the confirmation of the above, and the conveyor unit itself can be moved, and the conveyor unit moves in response to a predetermined signal and moves to the vicinity of another conveyor unit or another transport device.
  • the conveyor apparatus is characterized by constructing a desired transfer line.
  • the conveyor device of this aspect has a plurality of conveyor units.
  • the conveyor unit includes a functional unit that executes at least one of movement, posture change, processing, measurement, and confirmation of an article.
  • examples of the functional unit that moves the article include those that linearly move the article, those that change the direction, those that constitute the branching and collecting parts, and those that move in the vertical direction.
  • a functional unit that changes the posture of an article there is one that changes the vertical and horizontal postures of the article.
  • a functional unit that processes an article one that performs heating, disinfection, packaging, heat treatment, and the like can be considered.
  • As a functional unit for measuring an article one that performs full length measurement, weight measurement, and the like can be considered.
  • the conveyor unit preferably constitutes one zone of the conveyor apparatus disclosed in Patent Documents 1 and 2.
  • the conveyor unit preferably includes an individual control device corresponding to a zone controller, and preferably stores a program for operating each zone in each individual control device.
  • the conveyor unit of this aspect can move to arbitrary positions.
  • the means for moving the conveyor unit may be included in the conveyor unit itself, or may be connected to other objects to be pulled or pushed.
  • the conveyor apparatus of this aspect transmits a signal from a general control apparatus, for example, and moves according to the signal. And it moves to the vicinity of another conveyor unit, and a desired conveyance line can be constructed
  • the signal may be a wireless signal or a wired signal.
  • the conveyance line may be constructed in accordance with the layout drawn by the CAD device in conjunction with the CAD device. For example, a specific number, address, IP address or the like is assigned to each conveyor unit, a layout of a transfer line is created by a CAD device or the like, and a number of a conveyor unit having a corresponding function is attached to the layout. And you may make each conveyor unit run toward the position of the number attached
  • the functional unit moves or changes the posture of the article on the conveyor unit, has a self-moving means for moving the conveyor unit itself, and the self-moving means of the conveyor unit functions according to a predetermined signal. Then, it is desirable to move to the vicinity of another conveyor unit to construct a desired transfer line.
  • the conveyor unit according to this aspect includes self-moving means and can move to an arbitrary position.
  • the conveyor unit may be moved by other moving means.
  • the conveyor unit may have an idling wheel and may be connected to other moving means to move the conveyor unit.
  • the conveyor unit may be lifted under the conveyor unit and moved in that state.
  • the conveyor unit may be held and lifted from the upper side or the side surface, and the conveyor unit may be moved in that state. According to this aspect, the number of parts of the conveyor unit itself can be reduced.
  • the aspect of the conveyor unit includes a functional unit that executes at least one of movement of an article, change of an attitude of an article, processing of an article, measurement of an article, and confirmation of an article in a conveyor unit that is connected to form a series of conveyance lines
  • a signal is transmitted from a general control device, and the conveyor unit is moved according to the signal.
  • a desired conveyance line can be constructed
  • the article can be moved to a desired position by causing the conveyor unit to self-run with the article mounted on the conveyor unit.
  • a desirable aspect of the conveyor apparatus is a distributed control type conveyor apparatus constituted by a plurality of conveyance zones, and the conveyor unit constitutes one conveyance zone.
  • a desirable mode of the conveyor unit has communication means between adjacent units, and communication is performed between adjacent conveyor units by the communication means between adjacent units.
  • the conveyor unit has an individual control device in which a program for operating its own transport zone is stored.
  • Unit identification information for identifying the conveyor unit is given to the conveyor unit, and it is possible to create a transfer line layout by an external device and attach the unit identification information to the layout. It is desirable that each conveyor unit can be moved toward the position of the unit specifying information.
  • the conveyor unit has electrical coupling means, and the conveyor unit moves to the vicinity of other conveyor units and is automatically coupled by the electrical coupling means.
  • the conveyor unit has mechanical coupling means, and the conveyor unit moves to the vicinity of other conveyor units and is automatically coupled by the mechanical coupling means.
  • the conveyor unit has a height adjusting function, and the conveyor unit can move to the vicinity of another conveyor unit to automatically adjust the height between adjacent conveyor units.
  • the conveyor unit has a positioning system function.
  • the conveyor device has a traveling path securing function that secures the traveling path of the material hand machine by moving the conveyor unit when the material hand machine is in close proximity and dividing the transfer line.
  • the conveyor device has a travel route search function, searches for a route for moving from its current position to the target position, and the conveyor unit preferably moves along the route.
  • the conveyor unit has position correcting means, and when the conveyor unit moves and approaches the stop-side conveyor unit to be connected, the moving-side conveyor unit approaches the stop-side conveyor unit while correcting the position. It is desirable to go.
  • the conveyor unit prefferably be able to automatically change at least one of its posture and orientation so that it can perform its function.
  • the conveyor device has a three-dimensional structure having transport lines above and below, and preferably includes a conveyor unit that constructs an upper transport line.
  • the conveyor device of the present invention can easily change the layout.
  • the layout of the conveyor apparatus constructed by the conveyor unit of the present invention can be easily changed.
  • FIG. 1 It is a perspective view which shows an example of the conveyor unit of this invention. It is a perspective view which shows another example of the conveyor unit of this invention. It is a perspective view of the conveyor apparatus of this invention.
  • (A) is a CAD screen according to the embodiment of the present invention, and (b) is a model diagram displayed on the screen. It is a top view of a delivery field, (a) shows the state before constructing a conveyor device, and (b) shows the state during construction of the conveyor device. It is a top view of a delivery place, (c) shows the state after constructing a conveyor device, (d) shows the state after changing the layout of the conveyor device.
  • the conveyor apparatus 100 includes a plurality of conveyor units 1, an overall control apparatus 101, and a position reference apparatus 102. As shown in FIGS. 3 and 6, the main body portion of the conveyor apparatus 100 has a large number of conveyor units 1 connected to each other. In the conveyor apparatus 100 of the present embodiment, a large number of conveyor units 1 are connected to form a conveyance line.
  • each conveyor unit 1 has a function unit 2 that moves or changes the attitude of articles on the conveyor unit 1, self-moving means 10 that moves the conveyor unit 1 itself, an individual control device 30, and a connector 31. It is.
  • the connector 31 is an example of an electrical coupling unit that electrically connects adjacent conveyor units 1.
  • Each conveyor unit 1 has a carriage unit 51, and the functional unit 2 described above is mounted on the carriage unit 51.
  • Each carriage 51 is provided with the above-described self-moving means 10, the individual control device 30 and the connector 31.
  • Each truck unit 51 has a built-in storage battery 66.
  • the functional units 2 constitute a single transport zone when a conveyor line is constructed.
  • the functional unit 2a of the conveyor unit 1a shown in FIG. 1 constitutes a straight conveyance zone.
  • the functional part 2b of the conveyor unit 1b of FIG. 2 constitutes a branch zone.
  • the functional unit 2a shown in FIG. 1 is a roller conveyor, which is a plurality of conveyance rollers 5 that convey articles between a pair of left and right side frames 3 and 3 arranged in parallel, and are supported at predetermined intervals in the conveyance direction. is there.
  • the conveyance roller 5 includes a driven roller 5b that freely rotates and a motor-integrated roller 5a that incorporates a drive motor (not shown).
  • a drive motor not shown.
  • Conveying rollers 5 adjacent in the functional unit 2 a are wound around a transmission belt 6. Therefore, the rotational driving force of the motor built-in roller 5a can be transmitted to all the driven rollers 5b.
  • the motor built-in roller 5a is arranged at the center.
  • the function unit 2a can switch the carry-in direction and the transport direction by rotating the motor-incorporated roller 5a in the normal direction or the reverse direction, but the function of branching the transport destination and the function of introducing articles from a plurality of carry-in paths do not have.
  • the functional unit 2 is provided with a stock sensor S.
  • the in-stock sensor S is provided on the side frame 3. Further, the position of the stock sensor S is in the vicinity of the downstream end.
  • a photoelectric sensor can be used, and a light emitting element (not shown) such as a light emitting diode or an infrared diode is provided on the opposite side frame 3.
  • a light emitting element such as a light emitting diode or an infrared diode
  • H level on
  • L level off
  • the functional unit 2b employed in the conveyor unit 1b in FIG. 2 constitutes a branch zone of the transfer line and is a transfer device.
  • the functional unit 2b has a direction changing mechanism that switches between the transport direction and the carry-in direction.
  • the function part 2b is comprised by the main conveyance conveyor 21, the sub conveyance conveyor 22, and the raising / lowering apparatus (not shown).
  • the main transport conveyor 21 of the function unit 2b is a belt conveyor in which a plurality of thin belts 25 are arranged with a certain interval.
  • the main conveyor 21 is driven by a motor built-in roller 28 provided at the end.
  • the sub-transport conveyor 22 of the functional unit 2b is a roller conveyor.
  • the sub-transport conveyor 22 has a plurality of rollers 26 arranged in parallel, and these are interlocked by a belt (not shown).
  • One of the plurality of rollers 26 constituting the sub-conveyor 22 is a motor built-in roller, and all the rollers 26 are rotated by driving the motor built-in roller.
  • the sub-transport conveyor 22 is arranged such that rollers 26 exist between the belts 25 of the main transport conveyor 21.
  • the main transport conveyor 21 When the transported object placed on the functional unit 2b is moved straight, the main transport conveyor 21 is protruded above the sub transport conveyor 22 by a lifting device (not shown), and the motor built-in roller 28 of the main transport conveyor 21 is driven. The belt 25 is caused to travel.
  • the transported object placed on the functional unit 2b is discharged in the lateral direction, after the transported object is drawn into the main transport conveyor 21, the sub-transport conveyor 22 is lifted and lifted by the lifting device (not shown). Then, the sub-transport conveyor 22 is projected above the main transport conveyor 21, the motor built-in roller of the sub-transport conveyor 22 is driven, and each roller 26 is rotated.
  • the functional unit 2b is also provided with a stock sensor (not shown).
  • a functional unit 2c that constitutes a branching path for discharging articles in an oblique direction
  • a functional unit 2d that changes the path 360 degrees like the conveyor unit 1d shown in FIG.
  • a functional unit 2e equipped with a robot. Detailed description of these functional units 2 is omitted.
  • the cart 51 has a rectangular main body 32, and the self-moving means 10 described above is provided below the main body 32.
  • An individual control device 30 and a connector 31 are installed on the side surface of the main body 32.
  • a connecting means 35 and an alignment sensor 36 are provided on the front and rear surfaces of the main body 32.
  • the coupling means 35 is an example of a mechanical coupling means for mechanically coupling the conveyor units 1 to each other.
  • a storage battery 66 is built in the main body 32, and a charging connector 67 for charging the storage battery 66 is exposed from the main body 32.
  • the self moving means 10 is constituted by four wheels 46. Each wheel 46 is individually rotated by a motor (not shown). That is, each wheel 46 rotates in the forward direction and the reverse direction as indicated by an arrow A in FIG. Each wheel 46 is also rotated in the horizontal direction by a motor (not shown). That is, each wheel rotates in the horizontal direction as shown by an arrow B in FIG. 1 and can change the traveling direction.
  • the self-moving means 10 can rotate each wheel 46 at different rotational speeds, and can steer by rotating each wheel in the horizontal direction. Therefore, the trolley
  • each wheel 46 raises / lowers by motive power. That is, each wheel 46 moves up and down as indicated by an arrow C in FIG.
  • the self-moving means 10 is driven by receiving power supply from the storage battery 66.
  • a plurality of conveyor units 1 of the present embodiment are connected to construct a series of conveyor devices 100, and a program for controlling the conveyor device 100 in a distributed manner is stored in the individual control device 30. That is, the individual control device 30 has a function as a zone controller disclosed in Patent Documents 1 and 2. Specifically, as shown in FIG. 8, the individual control device 30 includes a conveyance logic storage unit 52, a conveyance unit control unit 53, and a communication unit 55 between adjacent units.
  • the completed conveyor apparatus 100 conveys articles by distributed control, and communication is performed between adjacent conveyor units 1 by the adjacent unit communication means 55. For example, whether or not there is an article in the adjacent conveyor unit 1, whether the adjacent conveyor unit 1 is driven or stopped, destination information of the article placed on the adjacent conveyor unit 1, etc.
  • the communication means 55 between the adjacent units communicates with each other.
  • the transport logic storage unit 52 stores a program for controlling the operation of the motor of the function unit 2 and the direction changing mechanism. For example, if it is the conveyor unit 1a of FIG. 1, the control program which performs the operation
  • the transport unit control means 53 is a circuit that drives the motor and the like of the functional unit 2.
  • the conveyor unit 1 of the present embodiment can be moved to an arbitrary position by a signal from the overall control device 101, and a control means for this purpose is provided in the individual control device 30.
  • the individual control device 30 includes position recognition means 56, position correction means 57, movement device control means 58, self-recognition means 60, and general control device communication means 61. That is, the conveyor unit 1 of this embodiment can be self-propelled by the self-moving means 10, and the self-moving means 10 is controlled by the moving device control means 58 of the individual control device 30. Further, the conveyor unit 1 has a function of automatically moving to the position of the layout drawn by the overall control device 101.
  • the individual control device 30 of the conveyor unit 1 has a built-in control device communication means (reception means) 61 built in, and a destination is designated from the control device communication means 61. Then, the position recognition means 56 recognizes its own position, and the movement device control means 58 controls the self movement means 10 to be guided to the target position.
  • the position correction means 57 receives a signal from the alignment sensor 36 and corrects the position of the conveyor unit 1.
  • the self identification number is stored in the self recognition means 60.
  • the connector 31 is a device for connecting a communication line or a power line with the adjacent conveyor unit 1.
  • the connecting means 35 is a device for mechanically connecting adjacent conveyor units 1 to each other.
  • the individual control device 30 operates by receiving power supply from the connector 31 and the storage battery 66.
  • the overall control apparatus 101 includes a layout creation means 40.
  • the layout creating means 40 is specifically a CAD program.
  • the conveyor device 100 can be designed by the CAD function of the overall control device 101.
  • the overall control apparatus 101 includes the input unit 41, and the layout unit of the conveyor apparatus 100 can be designed by operating the input unit 41.
  • the overall control apparatus 101 has display means 42, and the display means 42 can draw the layout of the transport line of the conveyor apparatus 100 as shown in FIG. Since a model diagram showing the function of the conveyor unit 1 as shown in FIG. 4B is displayed on the screen of the display means 42, the user can apply a desired function by applying the model diagram to the layout of the transport line.
  • the unit 1 can be arranged at a desired position.
  • the conveyor unit 1 has a unique identification number (unit identification information).
  • the identification number of the conveyor unit 1 having the function is displayed on the layout.
  • the identification number is a serial number from 1 to 18, and the conveyor unit 1 with the identification number from 1 to 14 is displayed on the layout.
  • the overall control apparatus 101 can also display the actually installed conveyor unit 1 by the current layout confirmation unit 43.
  • the individual control device communication means 45 is means for communicating with the individual control device 30.
  • the position reference device 102 is located in the room where the conveyor device 100 is installed, and serves as a reference for coordinates.
  • the position reference device 102 makes a reference for confirming the position of the conveyor unit 1 by radio waves or light.
  • a positioning system is constructed by the position reference device 102 and the position recognition means 56 of the individual control device 30.
  • the overall control device 101 can design a conveyor line layout, and the conveyor unit 1 can be self-propelled to construct a conveyor device 100 having a desired layout and function.
  • the layout of the conveyor apparatus 100 as shown in FIG. 4A is drawn by the CAD function of the layout creating means 40 of the overall control apparatus 101.
  • the model diagram of FIG. 4B is applied to the layout.
  • the identification number (unit identification information) of the corresponding conveyor unit 1 is displayed on the layout.
  • FIG. 5A is a plan view of the delivery place in the preparation stage.
  • the conveyor units 1 with identification numbers 1 to 18 are arranged at the end of the room.
  • the conveyor units 1 arranged beside the delivery area are activated, and the conveyor unit 1 is moved by the self-moving means 10.
  • the NO1 conveyor unit 1 that should be at the end of the conveyor apparatus 100 moves to a predetermined position.
  • the general control device 101 notifies the individual control device 30 of the conveyor unit 1 of NO1 of the leading position of the conveyor device 100 and instructs to move to the position.
  • the conveyor unit 1 of NO1 that has received the command by the reception function of the overall control device communication means 61 recognizes its current position based on the position reference device 102 in which the position recognition means 56 is placed in the room, and the target position
  • the self-moving means 10 is driven so as to move.
  • the general control apparatus 101 has a travel route search function, and searches for the shortest route for moving from its current position to the target position.
  • the conveyor unit 1 moves along the shortest route and reaches the target position.
  • the NO2 conveyor unit 1 to be connected to the NO1 conveyor unit 1 moves to a predetermined position.
  • the NO2 conveyor unit 1 also recognizes its current position and drives the self-moving means 10 so as to move to the target position.
  • the overall control apparatus 101 searches for the shortest route, moves along the shortest route, and reaches the target position.
  • the conveyor unit 1 after the NO2 conveyor unit 1 some conveyor units 1 have already moved first, and there may be an obstacle on the shortest route. In such a case, a travel route that avoids the obstacle is searched, and the vehicle travels along the route. Further, when there is an obstacle on the travel route that is not recognized by the overall control apparatus 101 and the conveyor unit 1 collides with the obstacle, the travel route is canceled and a new travel route is searched.
  • the alignment sensor 36 of the NO1 conveyor unit 1 and the alignment sensor 36 of the subsequent NO2 conveyor unit 1 react with each other, and the NO2 conveyor unit 1
  • the NO2 conveyor unit 1 is brought close to the NO1 conveyor unit 1 while correcting the position.
  • the connectors 31 and the connecting means 35 are automatically connected.
  • each wheel 46 can be moved up and down by power, and the level is automatically adjusted. That is, the wheels 46 are moved up and down so that the level of the adjacent conveyor unit 1 is adjusted so that the height of the NO2 conveyor unit 1 is aligned with the height of the NO1 conveyor unit 1.
  • the layout of the conveyor apparatus 100 is changed, the layout after the change of the conveyor apparatus 100 is drawn by the CAD function of the overall control apparatus 101.
  • a movement start switch (not shown) of the overall control apparatus 101 is operated, the conveyor unit 1 corresponding to the changed portion is self-propelled as shown in FIG. 6B and moved to a new position.
  • FIG. 7A when it is necessary to transport an article by a material hand device such as a forklift 105, a part of the conveyor device 100 is divided by a predetermined procedure, and the travel path of the forklift 105 Is secured. That is, as shown in FIG. 7A, when the forklift 105 approaches the conveyor device 100, as shown in FIG. 7B, some of the conveyor units 1 are self-propelled and the conveyor line of the conveyor device 100 is divided. The travel path of the forklift 105 is opened. Then, as shown in FIG. 7B, the forklift 105 passes through the traveling path that appears by dividing the conveyor device 100 and crosses the conveyor device 100.
  • the position reference device 102 is installed in the delivery area, and the position of the conveyor unit 1 is recognized by communication between the position reference device 102 and the conveyor unit 1.
  • the present invention is limited to this configuration. It is not a thing.
  • a signal line may be stretched around the floor of the delivery area, and the position of the conveyor unit 1 may be recognized by the signal line.
  • the operation when the conveyor apparatus 100 is constructed by the conveyor unit 1 has been mainly described.
  • the article is mounted on the conveyor unit 1 and the article is conveyed by driving the self-moving means 10 in this state. May be.
  • articles are mounted on the conveyor unit 1, and in this state, the self-moving means 10 is driven to move the conveyor unit 1 and connect to an existing conveyor device (another transfer device). Then, the functional unit 2 of the conveyor unit 1 is driven to send the article to the existing conveyor device.
  • the conveyor units 1 travel independently and construct a series of conveyor devices 100.
  • a plurality of conveyor units 1 may move in a connected state.
  • two conveyor units 1a may be connected at different locations, moved in that state, and combined with other conveyor units 1a.
  • each conveyor unit 1 may change an attitude
  • the conveyor unit 1a that performs only linear conveyance is connected to the conveyor unit 1b having a branch function as shown in FIG. 14, if the conveyor unit 1a approaches the conveyor unit 1b as shown in FIG. Assume. At this time, if the article conveying direction of the conveyor unit 1a intersects the article carrying direction of the existing conveyor unit 1b as shown in FIG. 14 (b), the adjacent side as shown in FIG. 14 (c). The existing conveyor unit 1a turns on the spot and changes its direction. And the article conveyance direction of the conveyor unit 1a becomes a posture along the article carrying-out direction of the conveyor unit 1b. In this state, the conveyor unit 1a further approaches and is connected to the conveyor unit 1b.
  • each of the conveyor units 1 includes self-moving means 10 that moves the conveyor unit 1 itself, and can move independently.
  • the present invention is not limited to this configuration, and may be moved by a separate moving means 62 like the conveyor unit 63 of FIG.
  • the conveyor unit 63 shown in FIG. 15 has the function part 2a like the above-described conveyor unit, the conveyor unit 63 does not include the self-moving means 10.
  • the moving means 62 is a small traveling device, and has four wheels 46 similar to the above-described carriage unit 51. Each wheel 46 is individually rotated by a motor (not shown). Each wheel 46 also rotates in the horizontal direction. Each wheel 4 of the moving means 62 can be rotated at different rotational speeds and can be steered by rotating each wheel in the horizontal direction.
  • the conveyor unit 63 shown in FIG. 15 is connected to the moving means 62 and is moved by being pushed by the moving means 62.
  • each wheel 46 does not rotate by itself but idles. Each wheel 46 also idles in the horizontal direction, and the traveling direction changes according to the direction in which the moving means 62 pushes. However, also in this embodiment, each wheel 46 moves up and down by power. That is, each wheel 46 moves up and down as indicated by an arrow C in FIG.
  • the conveyor unit 63 of this embodiment does not have the self-moving means 10, the number of parts is small and the structure is simple. Further, by reciprocating the moving means 62, the conveyor unit 63 can be moved entirely by a small number of moving means 62.
  • a conveyor unit 70 shown in FIG. 17 includes a main body 71 and a traveling wheel 72.
  • the main body portion 71 is obtained by removing the wheel 46 portion of the conveyor unit 70 exemplified above, and has the other main components of the carriage unit 51 and the functional unit 2.
  • the traveling wheel portion 72 has a wheel 73 attached to the lower surface of the plate body 75. It is desirable to standardize the traveling wheel part 72 so that various functional parts 2 can be mounted.
  • the functional unit 2 is mounted on the carriage unit 51.
  • the versatility of the cart unit 51 and the function unit 2 can be enhanced.
  • the cart unit 51 and the functional unit 2 be unitized and configured so that an arbitrary functional unit 2 can be mounted on the cart unit 51.
  • the conveyor units 1 and 63 of the above-described embodiment are for constructing the conveyor device 100 that transports articles in a planar manner, but a conveyor unit 65 that is applied to a three-dimensional conveyor device is also conceivable.
  • the functional unit 2 a is installed on the carriage unit 51 in a two-story manner.
  • a three-dimensional conveyor device can be constructed.
  • the conveyor unit 65 shown in FIG. 18 has two rows of functional units 2a that convey articles in a straight line and are arranged in parallel, but two functional units 2a may be arranged in a three-dimensional crossing up and down. It is done.
  • a conveyor unit 75 shown in FIG. 19 is configured such that two functional units 2a are three-dimensionally crossed up and down.
  • the conveyor units 65 and 75 described in FIGS. 18 and 19 have a first floor portion and a second floor portion, and each has a functional unit 2a, but only the upper floor portion. Also good.
  • the conveyor unit 76 shown in FIG. 20 has a structure having only the second floor portion, and the functional unit 2a is provided at a high position.
  • the conveyor units 65, 75, and 76 having the second floor shown in FIGS. 18, 19, and 20 are all provided with the functional unit 2a in the region immediately above the carriage unit 51.
  • the functional unit 2a is a carriage.
  • the position may be offset with respect to the portion 51.
  • the conveyor unit 77 shown in FIG. 21 has the functional part 2a up and down, and the position of the functional part 2a is shifted in the horizontal direction. That is, the conveyor unit 77 shown in FIG. 21 has a lower-side functional unit 2La on the carriage unit 51, is higher than the lower-side functional unit 2La in the height direction, and is in the horizontal direction a carriage unit.
  • the upper functional unit 2Ha is installed at a position shifted from the position 51.
  • the conveyor unit 78 shown in FIG. 22 has a structure having only the second floor portion, and the functional unit 2 a is installed at a high position and offset with respect to the carriage unit 51.
  • All of the functional units 2 of the above-described embodiment have a function of conveying an article, but the present invention is not limited to this configuration.
  • it may be a functional unit that applies predetermined force to the article to perform a predetermined process.
  • the function part which performs a heating, disinfection, packaging, heat processing, etc. may be sufficient.
  • it may be a functional unit that performs full length measurement, weight measurement, or the like, or a functional unit that confirms the destination of an article.
  • the conveyor units 1, 63, 65, 70, 75, 76, 77, and 78 described above all have wheels 46, but the wheels 46 are not necessarily required if they are conveyor units that do not have a self-propelled function. Is not necessary.
  • the moving means 82 is a small traveling device and has four wheels 46. Each wheel 46 is individually rotated by a motor (not shown). Each wheel 46 is also rotated in the horizontal direction by a motor (not shown). Each wheel 4 of the moving means 82 can be rotated at different rotational speeds, and each wheel can be steered by rotating in the horizontal direction.
  • the moving means 82 has the raising / lowering stand 85 on the upper surface.
  • the elevator 85 is moved up and down in the vertical direction by an actuator (not shown).
  • the moving means 82 When the conveyor unit 80 is moved, the moving means 82 is moved under the main body 32 of the conveyor unit 80 as shown in FIGS. 23 (b) and 24 (a). Then, as shown in FIG. 24 (b), the elevator 85 is raised and the conveyor unit 80 is scooped up by the elevator 85. Thereafter, the wheels 46 are rotated to convey the conveyor unit 80 to a desired place. Then, the elevator 85 is lowered at the position, and the fixed leg 81 of the main body 32 is landed.

Abstract

The present invention addresses the problem of providing a conveyor device and conveyor unit whereby execution thereof or changing of the layout thereof is easily performed. In a main portion of the conveyor device, numerous conveyor units 1 are combined. Each of the conveyor units 1 has a function part 2 for moving or changing the orientation of an article on the conveyor unit 1, and a self-movement means 10 for moving the conveyor unit 1 itself. The self-movement means 10 of the conveyor unit 1 functions in response to a predetermined signal and moves to the vicinity of another conveyor unit 1, and a desired conveyance line is constructed.

Description

コンベヤ装置及びコンベヤユニットConveyor device and conveyor unit
　本発明は、物品を所定の位置に搬送するコンベヤ装置に関するものである。また本発明は、コンベヤ装置を構成するコンベヤユニットに関するものである。 The present invention relates to a conveyor device for conveying an article to a predetermined position. Moreover, this invention relates to the conveyor unit which comprises a conveyor apparatus.
　配送場や集荷場、倉庫等には、コンベヤ装置が設置される場合が多い。
　また一連のコンベヤ装置が多数のゾーンによって構成された分散制御方式のコンベヤ装置が知られている（特許文献１）。
　特許文献１に開示されたコンベヤ装置は、複数のゾーンに分かれており、各ゾーンにゾーンコントローラが設けられており、各ゾーンのモータはそれぞれのゾーンコントローラによって制御される。
　また分岐機能を有するゾーンを含む分散制御方式のコンベヤ装置も知られている（特許文献２）。 In many cases, a conveyor device is installed in a delivery place, a pickup place, a warehouse, or the like.
Further, a distributed control type conveyor apparatus in which a series of conveyor apparatuses are configured by a number of zones is known (Patent Document 1).
The conveyor device disclosed in Patent Document 1 is divided into a plurality of zones, each zone is provided with a zone controller, and the motors in each zone are controlled by the respective zone controllers.
A distributed control type conveyor apparatus including a zone having a branching function is also known (Patent Document 2).
特開２０１２－２１１０１５号公報JP 2012-2111015 A 特開２０１３－２３０９１４号公報JP 2013-230914 A 特開２０１３－１２７７３４号公報JP 2013-127734 A
　コンベヤ装置は、多くの場合、工場の床面に固定される。コンベヤ装置は、構造物であるとは言え、一旦設置されるとレイアウト等を変更することは困難である。
　これに対して、市場においては、レイアウトの変更が容易なコンベヤ装置が求められている。 The conveyor device is often fixed to the floor of a factory. Although the conveyor device is a structure, once it is installed, it is difficult to change the layout or the like.
On the other hand, in the market, there is a demand for a conveyor device whose layout can be easily changed.
　また工場等では、コンベヤ装置だけではなく、台車やフォークリフト等の移動式のマテリアルハンドリング機器も多用される。
　フォークリフト等の走行経路は、当然にコンベヤ装置の設置位置が優先され、フォークリフト等は、コンベヤ装置の間をぬって走行する。
　これに対して、フォークリフト等の走行を優先することが望まれる場合もある。即ち一時的にコンベヤ装置の一部を移動させ、フォークリフトの走行路を確保したい場合もある。 In factories and the like, not only conveyor devices but also mobile material handling devices such as carts and forklifts are frequently used.
Of course, priority is given to the installation position of the conveyor device in the travel path of the forklift or the like, and the forklift travels between the conveyor devices.
On the other hand, priority may be given to traveling such as a forklift. That is, there is a case where it is desired to temporarily move a part of the conveyor device and secure a traveling path of the forklift.
　本発明は、市場における上記した要求に応えることができるコンベヤ装置を開発し、施工やレイアウト変更が容易なコンベヤ装置及びコンベヤユニットを提供することを課題とするものである。 This invention develops the conveyor apparatus which can respond to the above-mentioned request | requirement in a market, and makes it a subject to provide the conveyor apparatus and conveyor unit which construction and layout change are easy.
　上記した課題を解決するための態様は、物品を搬送するコンベヤ装置において、複数のコンベヤユニットを有し、当該コンベヤユニットは、物品の移動、物品の姿勢変更、物品を加工、物品の測定、物品の確認の少なくともいずれかを実行する機能部を有し、コンベヤユニット自体を移動可能であり、所定の信号に応じてコンベヤユニットが移動して他のコンベヤユニット又は他の搬送機器の近傍に移動し、所望の搬送ラインを構築することを特徴とするコンベヤ装置である。 An aspect for solving the above-described problem is that a conveyor apparatus for conveying an article has a plurality of conveyor units, and the conveyor unit moves the article, changes the attitude of the article, processes the article, measures the article, and measures the article. It has a function unit that executes at least one of the confirmation of the above, and the conveyor unit itself can be moved, and the conveyor unit moves in response to a predetermined signal and moves to the vicinity of another conveyor unit or another transport device. The conveyor apparatus is characterized by constructing a desired transfer line.
　本態様のコンベヤ装置は、複数のコンベヤユニットを有している。コンベヤユニットは、物品の移動、姿勢変更、加工、測定、確認の少なくともいずれかを実行する機能部を備えている。
　ここで物品を移動させる機能部としては、物品を直線的に移動させるものや、方向を変換するもの、分岐部や集合部を構成するもの、上下方向に移載するもの等が例示される。また物品を姿勢変更させる機能部としては、物品の縦横姿勢を変更するもの等がある。
　物品に対して加工を行う機能部としては、加熱、消毒、包装、熱処理等を行うものが考えられる。物品の測定を行う機能部としては、全長測定、重量測定等を行うものが考えられる。物品の確認する機能部としては、行き先確認、認証等を行うものが考えられる。
　コンベヤユニットは、例えば特許文献１，２のコンベヤ装置の一つのゾーンを構成するものであることが望ましい。
　コンベヤユニットは、ゾーンコントローラに相当する個別制御装置を備えていることが望ましく、それぞれの個別制御装置に個々のゾーンを動作させるプログラムが格納されていることが望ましい。
　また本態様のコンベヤユニットは、任意の位置に移動することができる。コンベヤユニットを移動させる手段は、コンベヤユニット自身が有していても良いし、他の物に連結されて牽引や押し移動されるものであってもよい。
　本態様のコンベヤ装置は、例えば、総括的な制御装置から信号を発信し、その信号に応じて移動する。そして他のコンベヤユニットの近傍に移動し、所望の搬送ラインを構築することができる。
　信号は、無線信号であっても有線信号であってもよい。
　例えばＣＡＤ装置と連動させ、ＣＡＤ装置で描いたレイアウトの通りに搬送ラインを構築させてもよい。
　例えば各コンベヤユニットに特定の符番や番地、ＩＰアドレス等を付与し、ＣＡＤ装置等で搬送ラインのレイアウトを作成し、該当する機能を備えたコンベヤユニットの符番をレイアウトに付する。そして搬送ラインのレイアウトに付された符番の位置に向かって、各コンベヤユニットを走行させてもよい。
　各コンベヤユニットが測位システム機能を有していてもよい。 The conveyor device of this aspect has a plurality of conveyor units. The conveyor unit includes a functional unit that executes at least one of movement, posture change, processing, measurement, and confirmation of an article.
Here, examples of the functional unit that moves the article include those that linearly move the article, those that change the direction, those that constitute the branching and collecting parts, and those that move in the vertical direction. In addition, as a functional unit that changes the posture of an article, there is one that changes the vertical and horizontal postures of the article.
As a functional unit that processes an article, one that performs heating, disinfection, packaging, heat treatment, and the like can be considered. As a functional unit for measuring an article, one that performs full length measurement, weight measurement, and the like can be considered. As a functional unit for confirming an article, a unit that performs destination confirmation, authentication, and the like can be considered.
For example, the conveyor unit preferably constitutes one zone of the conveyor apparatus disclosed in Patent Documents 1 and 2.
The conveyor unit preferably includes an individual control device corresponding to a zone controller, and preferably stores a program for operating each zone in each individual control device.
Moreover, the conveyor unit of this aspect can move to arbitrary positions. The means for moving the conveyor unit may be included in the conveyor unit itself, or may be connected to other objects to be pulled or pushed.
The conveyor apparatus of this aspect transmits a signal from a general control apparatus, for example, and moves according to the signal. And it moves to the vicinity of another conveyor unit, and a desired conveyance line can be constructed | assembled.
The signal may be a wireless signal or a wired signal.
For example, the conveyance line may be constructed in accordance with the layout drawn by the CAD device in conjunction with the CAD device.
For example, a specific number, address, IP address or the like is assigned to each conveyor unit, a layout of a transfer line is created by a CAD device or the like, and a number of a conveyor unit having a corresponding function is attached to the layout. And you may make each conveyor unit run toward the position of the number attached | subjected to the layout of the conveyance line.
Each conveyor unit may have a positioning system function.
　上記した態様において、機能部はコンベヤユニット上で物品を移動または姿勢変更させるものであり、コンベヤユニット自体を移動させる自己移動手段を有し、所定の信号に応じてコンベヤユニットの自己移動手段が機能して他のコンベヤユニットの近傍に移動し、所望の搬送ラインを構築するものであることが望ましい。
　本態様のコンベヤユニットは、自己移動手段を備えており、任意の位置に移動することができる。 In the above aspect, the functional unit moves or changes the posture of the article on the conveyor unit, has a self-moving means for moving the conveyor unit itself, and the self-moving means of the conveyor unit functions according to a predetermined signal. Then, it is desirable to move to the vicinity of another conveyor unit to construct a desired transfer line.
The conveyor unit according to this aspect includes self-moving means and can move to an arbitrary position.
　他の移動手段によってコンベヤユニットが移動するものであってもよい。 The conveyor unit may be moved by other moving means.
　例えばコンベヤユニットは空転する車輪を有し、他の移動手段と連結されてコンベヤユニットが移動するものであってもよい。
　またコンベヤユニットの下にもぐってコンベヤユニットを持ち上げ、その状態でコンベヤユニットを移動させてもよい。
　あるいは上部側や側面側からコンベヤユニットを保持して持ち上げ、その状態でコンベヤユニットを移動させてもよい。
　本態様によると、コンベヤユニット自体の部品点数を少なくすることができる。 For example, the conveyor unit may have an idling wheel and may be connected to other moving means to move the conveyor unit.
Alternatively, the conveyor unit may be lifted under the conveyor unit and moved in that state.
Alternatively, the conveyor unit may be held and lifted from the upper side or the side surface, and the conveyor unit may be moved in that state.
According to this aspect, the number of parts of the conveyor unit itself can be reduced.
　コンベヤユニットの態様は、複数繋がって一連の搬送ラインを構築するコンベヤユニットにおいて、物品の移動、物品の姿勢変更、物品の加工、物品の測定、物品の確認の少なくともいずれかを実行する機能部と、コンベヤユニット自体を移動させる自己移動手段と、信号を受信する受信手段を有し、所定の信号に応じて前記自己移動手段が機能し、自走して所望の位置に移動することを特徴とするコンベヤユニットである。 The aspect of the conveyor unit includes a functional unit that executes at least one of movement of an article, change of an attitude of an article, processing of an article, measurement of an article, and confirmation of an article in a conveyor unit that is connected to form a series of conveyance lines A self-moving means for moving the conveyor unit itself and a receiving means for receiving a signal, wherein the self-moving means functions in response to a predetermined signal, and is self-propelled to move to a desired position. It is a conveyor unit.
　本態様のコンベヤユニットでは、例えば総括的な制御装置から信号を発信し、その信号に応じてコンベヤユニットを移動させる。そして本態様のコンベヤユニットによって所望の搬送ラインを構築することができる。またコンベヤユニットに物品を搭載した状態でコンベヤユニットを自走させ、物品を所望の位置に移動することもできる。 In the conveyor unit of this aspect, for example, a signal is transmitted from a general control device, and the conveyor unit is moved according to the signal. And a desired conveyance line can be constructed | assembled with the conveyor unit of this aspect. Further, the article can be moved to a desired position by causing the conveyor unit to self-run with the article mounted on the conveyor unit.
　望ましいコンベヤ装置の態様は、複数の搬送ゾーンによって構成された分散制御方式のコンベヤ装置であり、コンベヤユニットが一つの搬送ゾーンを構成するものである。
　望ましいコンベヤユニットの態様は、隣接ユニット間通信手段を有し、当該隣接ユニット間通信手段によって隣接するコンベヤユニット間で通信が行われるものである。 A desirable aspect of the conveyor apparatus is a distributed control type conveyor apparatus constituted by a plurality of conveyance zones, and the conveyor unit constitutes one conveyance zone.
A desirable mode of the conveyor unit has communication means between adjacent units, and communication is performed between adjacent conveyor units by the communication means between adjacent units.
　コンベヤユニットは、自己の搬送ゾーンを動作させるプログラムが格納された個別制御装置を有することが望ましい。 It is desirable that the conveyor unit has an individual control device in which a program for operating its own transport zone is stored.
　総括制御装置を有し、総括制御装置から信号を発信し、コンベヤユニットはその信号を受信して移動し、一連の搬送ラインが構築されることが望ましい。 It is desirable to have a general control device, send a signal from the general control device, and the conveyor unit receives the signal and moves to construct a series of transport lines.
　コンベヤユニットには当該コンベヤユニットを特定するユニット特定情報が付与され、外部の装置で搬送ラインのレイアウトを作成し、且つレイアウトにユニット特定情報を付すことが可能であり、搬送ラインのレイアウトに付されたユニット特定情報の位置に向かって、各コンベヤユニットを走行させることが可能であることが望ましい。 Unit identification information for identifying the conveyor unit is given to the conveyor unit, and it is possible to create a transfer line layout by an external device and attach the unit identification information to the layout. It is desirable that each conveyor unit can be moved toward the position of the unit specifying information.
　コンベヤユニットは、電気的結合手段を有し、コンベヤユニットは他のコンベヤユニットの近傍に移動し、自動的に電気的結合手段で結合されることが望ましい。 It is desirable that the conveyor unit has electrical coupling means, and the conveyor unit moves to the vicinity of other conveyor units and is automatically coupled by the electrical coupling means.
　コンベヤユニットは、機械的結合手段を有し、コンベヤユニットは他のコンベヤユニットの近傍に移動し、自動的に機械的結合手段で結合されることが望ましい。 It is desirable that the conveyor unit has mechanical coupling means, and the conveyor unit moves to the vicinity of other conveyor units and is automatically coupled by the mechanical coupling means.
　コンベヤユニットは、高さ合わせ機能を備え、コンベヤユニットは他のコンベヤユニットの近傍に移動して、隣接するコンベヤユニット間の高さを自動的に合わすことができることが望ましい。 It is desirable that the conveyor unit has a height adjusting function, and the conveyor unit can move to the vicinity of another conveyor unit to automatically adjust the height between adjacent conveyor units.
　コンベヤユニットは、測位システム機能を有するものであることが望ましい。 It is desirable that the conveyor unit has a positioning system function.
　コンベヤ装置は、マテリアルハンド機械が近接すると、コンベヤユニットが移動して搬送ラインが分断されてマテリアルハンド機械の走行路を確保する走行路確保機能を備えることが望ましい。 It is desirable that the conveyor device has a traveling path securing function that secures the traveling path of the material hand machine by moving the conveyor unit when the material hand machine is in close proximity and dividing the transfer line.
　コンベヤ装置は、走行ルート検索機能を備えており、自己の現在の位置から目標位置に移動するためのルートを検索し、コンベヤユニットはそのルートに沿って移動することが望ましい。 The conveyor device has a travel route search function, searches for a route for moving from its current position to the target position, and the conveyor unit preferably moves along the route.
　コンベヤユニットは、位置補正手段を有し、コンベヤユニットが移動して接続されるべき停止側のコンベヤユニットに近づく際、移動側のコンベヤユニットは、位置を補正しつつ停止側のコンベヤユニットに近づいて行くことが望ましい。 The conveyor unit has position correcting means, and when the conveyor unit moves and approaches the stop-side conveyor unit to be connected, the moving-side conveyor unit approaches the stop-side conveyor unit while correcting the position. It is desirable to go.
　コンベヤユニットは、自己の機能を発揮できる様に姿勢又は向きの少なくともいずれかを自動変更することが可能であることが望ましい。 It is desirable for the conveyor unit to be able to automatically change at least one of its posture and orientation so that it can perform its function.
　コンベヤ装置は、上下に搬送ラインを有する立体構造であり、上段の搬送ラインを構築するコンベヤユニットを含むことが望ましい。 The conveyor device has a three-dimensional structure having transport lines above and below, and preferably includes a conveyor unit that constructs an upper transport line.
　本発明のコンベヤ装置は、容易にレイアウトの変更を行うことができる。また本発明のコンベヤユニットによって構築されたコンベヤ装置は、レイアウトの変更が容易である。 The conveyor device of the present invention can easily change the layout. The layout of the conveyor apparatus constructed by the conveyor unit of the present invention can be easily changed.
本発明のコンベヤユニットの一例を示す斜視図である。It is a perspective view which shows an example of the conveyor unit of this invention. 本発明のコンベヤユニットの他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤ装置の斜視図である。It is a perspective view of the conveyor apparatus of this invention. （ａ）は本発明の実施形態のＣＡＤの画面であり、（ｂ）は画面に表示されるモデル図である。(A) is a CAD screen according to the embodiment of the present invention, and (b) is a model diagram displayed on the screen. 配送場の平面図であり、（ａ）はコンベヤ装置を構築する前の状態を示し、（ｂ）は、コンベヤ装置を構築中の状態を示す。It is a top view of a delivery field, (a) shows the state before constructing a conveyor device, and (b) shows the state during construction of the conveyor device. 配送場の平面図であり、（ｃ）はコンベヤ装置を構築後の状態を示し、（ｄ）はコンベヤ装置のレイアウトを変更後の状態を示す。It is a top view of a delivery place, (c) shows the state after constructing a conveyor device, (d) shows the state after changing the layout of the conveyor device. 配送場の平面図であり、（ａ）はフォークリフトがコンベヤ装置に近づいてきた状態を示し、（ｂ）は、フォークリフトがコンベヤ装置を横断する状態を示す。It is a top view of a delivery field, (a) shows the state where the forklift has approached the conveyor device, and (b) shows the state where the forklift crosses the conveyor device. 個別制御装置のブロック図である。It is a block diagram of an individual control device. 総括制御装置のブロック図である。It is a block diagram of a general control apparatus. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明の実施形態のコンベヤユニットの動作の一例を示す斜視図である。It is a perspective view which shows an example of operation | movement of the conveyor unit of embodiment of this invention. （ａ）～（ｄ）は本発明の実施形態のコンベヤユニットの動作の他の一例を示す説明図である。(A)-(d) is explanatory drawing which shows another example of operation | movement of the conveyor unit of embodiment of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニットのさらに他の一例を示す斜視図である。It is a perspective view which shows another example of the conveyor unit of this invention. 本発明のコンベヤユニット及び移動手段のさらに他の一例を示す斜視図であり、（ａ）はコンベヤユニットに移動手段が近づいた状態を示し、（ｂ）はコンベヤユニットの下に移動手段が入り込んだ状態を示す。It is a perspective view which shows another example of the conveyor unit and moving means of this invention, (a) shows the state which the moving means approached the conveyor unit, (b) entered the moving means under the conveyor unit. Indicates the state. （ａ）（ｂ）は、図２３のコンベヤユニット及び移動手段の動作を説明する説明図である。(A) (b) is explanatory drawing explaining operation | movement of the conveyor unit and moving means of FIG.
　以下さらに本発明の実施形態について説明する。
　図６の様に本実施形態のコンベヤ装置１００は、複数のコンベヤユニット１と、総括制御装置１０１及び位置基準装置１０２によって構成されている。コンベヤ装置１００の本体部分は、図３、図６に示す様に多数のコンベヤユニット１が連結されたものである。本実施形態のコンベヤ装置１００では、多数のコンベヤユニット１が連結されて搬送ラインが構築されている。 Embodiments of the present invention will be further described below.
As shown in FIG. 6, the conveyor apparatus 100 according to this embodiment includes a plurality of conveyor units 1, an overall control apparatus 101, and a position reference apparatus 102. As shown in FIGS. 3 and 6, the main body portion of the conveyor apparatus 100 has a large number of conveyor units 1 connected to each other. In the conveyor apparatus 100 of the present embodiment, a large number of conveyor units 1 are connected to form a conveyance line.
　コンベヤユニット１には、多数の種類があり、それぞれ各種の機能を有している。
　各コンベヤユニット１に共通する点は、コンベヤユニット１上で物品を移動または姿勢変更させる機能部２と、コンベヤユニット１自体を移動させる自己移動手段１０と、個別制御装置３０及びコネクタ３１を有する点である。コネクタ３１は、隣接するコンベヤユニット１を電気的に接続する電気的結合手段の一例である。
　各コンベヤユニット１は、台車部５１を有し、台車部５１上に前記した機能部２が搭載されている。
　また各台車部５１には前記した自己移動手段１０と、個別制御装置３０及びコネクタ３１が設けられている。また各台車部５１には、蓄電池６６が内蔵されている。 There are many types of conveyor units 1, each having various functions.
The points common to each conveyor unit 1 are that it has a function unit 2 that moves or changes the attitude of articles on the conveyor unit 1, self-moving means 10 that moves the conveyor unit 1 itself, an individual control device 30, and a connector 31. It is. The connector 31 is an example of an electrical coupling unit that electrically connects adjacent conveyor units 1.
Each conveyor unit 1 has a carriage unit 51, and the functional unit 2 described above is mounted on the carriage unit 51.
Each carriage 51 is provided with the above-described self-moving means 10, the individual control device 30 and the connector 31. Each truck unit 51 has a built-in storage battery 66.
　機能部２は、いずれもコンベヤ装置の搬送ラインを構築した際に一つの搬送ゾーンを構成するものである。例えば図１に示すコンベヤユニット１ａの機能部２ａは、直線搬送ゾーンを構成するものである。一方、図２のコンベヤユニット１ｂの機能部２ｂは、分岐ゾーンを構成するものである。 The functional units 2 constitute a single transport zone when a conveyor line is constructed. For example, the functional unit 2a of the conveyor unit 1a shown in FIG. 1 constitutes a straight conveyance zone. On the other hand, the functional part 2b of the conveyor unit 1b of FIG. 2 constitutes a branch zone.
　図１に示す機能部２ａはローラコンベヤであり、平行に配置された左右の一対のサイドフレーム３，３間に物品を搬送する複数の搬送ローラ５を搬送方向に所定間隔で軸支したものである。搬送ローラ５は、自由に回転する従動ローラ５ｂと、駆動用モータ（図示しない）を内蔵するモータ内蔵ローラ５ａとからなる。本実施形態では、モータ内蔵ローラ５ａは１本だけであり、他はすべて従動ローラ５ｂである。 The functional unit 2a shown in FIG. 1 is a roller conveyor, which is a plurality of conveyance rollers 5 that convey articles between a pair of left and right side frames 3 and 3 arranged in parallel, and are supported at predetermined intervals in the conveyance direction. is there. The conveyance roller 5 includes a driven roller 5b that freely rotates and a motor-integrated roller 5a that incorporates a drive motor (not shown). In this embodiment, there is only one roller 5a with a built-in motor, and the others are all driven rollers 5b.
　機能部２ａ内で隣接する搬送ローラ５同士は伝動ベルト６で巻回されている。そのため、モータ内蔵ローラ５ａの回転駆動力を全ての従動ローラ５ｂに伝動することができる。本実施形態では、中央部にモータ内蔵ローラ５ａを配している。
　機能部２ａは、モータ内蔵ローラ５ａを正転・逆転することによって、搬入方向と搬送方向を入れ換えることは可能であるが、搬送先を分岐する機能や複数の搬入路から物品を導入する機能は持たない。 Conveying rollers 5 adjacent in the functional unit 2 a are wound around a transmission belt 6. Therefore, the rotational driving force of the motor built-in roller 5a can be transmitted to all the driven rollers 5b. In this embodiment, the motor built-in roller 5a is arranged at the center.
The function unit 2a can switch the carry-in direction and the transport direction by rotating the motor-incorporated roller 5a in the normal direction or the reverse direction, but the function of branching the transport destination and the function of introducing articles from a plurality of carry-in paths do not have.
　また図１に示すように、機能部２には在荷センサーＳが設けられている。在荷センサーＳは、サイドフレーム３上に設けられている。また在荷センサーＳの位置は、下流端の近傍である。 Further, as shown in FIG. 1, the functional unit 2 is provided with a stock sensor S. The in-stock sensor S is provided on the side frame 3. Further, the position of the stock sensor S is in the vicinity of the downstream end.
　在荷センサ－Ｓとしては、光電センサを用いることができ、対向するサイドフレーム３に発光ダイオードや赤外線ダイオード等の発光素子（図示せず）が設けられている。これにより、物品が搬送されてくると、発光素子からの光が遮られてオン（Ｈレベル）信号を出力し、被物品が存在しない場合にはオフ（Ｌレベル）信号を出力する。この様に光電センサがオン／オフされ、物品が所定位置まで搬送されたことを検知することが可能である。 As the in-stock sensor S, a photoelectric sensor can be used, and a light emitting element (not shown) such as a light emitting diode or an infrared diode is provided on the opposite side frame 3. Thus, when the article is conveyed, the light from the light emitting element is blocked and an on (H level) signal is output, and when the article is not present, an off (L level) signal is output. In this way, it is possible to detect that the photoelectric sensor is turned on / off and the article is conveyed to a predetermined position.
　これに対して図２のコンベヤユニット１ｂで採用する機能部２ｂは、搬送ラインの分岐ゾーンを構成するものがあり、移載装置である。機能部２ｂは、搬送方向又は搬入方向を切り換える方向変換機構を有している。
　機能部２ｂは、主搬送コンベヤ２１と、副搬送コンベヤ２２及び昇降装置（図示せず）によって構成されている。
　機能部２ｂの主搬送コンベヤ２１は、複数の細いベルト２５が一定の間隔を設けて配されたベルトコンベヤである。主搬送コンベヤ２１は、端部に設けられたモータ内蔵ローラ２８によって駆動される。 On the other hand, the functional unit 2b employed in the conveyor unit 1b in FIG. 2 constitutes a branch zone of the transfer line and is a transfer device. The functional unit 2b has a direction changing mechanism that switches between the transport direction and the carry-in direction.
The function part 2b is comprised by the main conveyance conveyor 21, the sub conveyance conveyor 22, and the raising / lowering apparatus (not shown).
The main transport conveyor 21 of the function unit 2b is a belt conveyor in which a plurality of thin belts 25 are arranged with a certain interval. The main conveyor 21 is driven by a motor built-in roller 28 provided at the end.
　機能部２ｂの副搬送コンベヤ２２は、ローラコンベヤである。副搬送コンベヤ２２は、複数のローラ２６が平行に配され、且つこれらが図示しないベルトによって連動するものである。副搬送コンベヤ２２を構成する複数のローラ２６の内の一本が、モータ内蔵ローラであり、モータ内蔵ローラを駆動することによって全てのローラ２６が回転する。
　副搬送コンベヤ２２は、図２の様に主搬送コンベヤ２１のベルト２５同士の間にローラ２６が存在する様に配置されている。 The sub-transport conveyor 22 of the functional unit 2b is a roller conveyor. The sub-transport conveyor 22 has a plurality of rollers 26 arranged in parallel, and these are interlocked by a belt (not shown). One of the plurality of rollers 26 constituting the sub-conveyor 22 is a motor built-in roller, and all the rollers 26 are rotated by driving the motor built-in roller.
As shown in FIG. 2, the sub-transport conveyor 22 is arranged such that rollers 26 exist between the belts 25 of the main transport conveyor 21.
　機能部２ｂに載置された搬送物を直進させる場合には、図示しない昇降装置によって主搬送コンベヤ２１を副搬送コンベヤ２２よりも上に突出させ、主搬送コンベヤ２１のモータ内蔵ローラ２８を駆動し、ベルト２５を走行させる。
　機能部２ｂに載置された搬送物を横方向に排出する場合は、主搬送コンベヤ２１に搬送物を引き入れた後に、図示しない昇降装置によって副搬送コンベヤ２２を上昇させると共に主搬送コンベヤ２１を降下し、副搬送コンベヤ２２を主搬送コンベヤ２１よりも上に突出させ、副搬送コンベヤ２２のモータ内蔵ローラを駆動し、各ローラ２６を回転させる。
　機能部２ｂにも在荷センサーが設けられている（図示せず）。 When the transported object placed on the functional unit 2b is moved straight, the main transport conveyor 21 is protruded above the sub transport conveyor 22 by a lifting device (not shown), and the motor built-in roller 28 of the main transport conveyor 21 is driven. The belt 25 is caused to travel.
When the transported object placed on the functional unit 2b is discharged in the lateral direction, after the transported object is drawn into the main transport conveyor 21, the sub-transport conveyor 22 is lifted and lifted by the lifting device (not shown). Then, the sub-transport conveyor 22 is projected above the main transport conveyor 21, the motor built-in roller of the sub-transport conveyor 22 is driven, and each roller 26 is rotated.
The functional unit 2b is also provided with a stock sensor (not shown).
　他に図１０に示すコンベヤユニット１ｃの様に、物品を斜め方向に排出する分岐路を構成する機能部２ｃや、図１１に示すコンベヤユニット１ｄの様に、経路を３６０度変更する機能部２ｄ、図１２に示すコンベヤユニット１ｅの様に、ロボットを搭載した機能部２ｅ等がある。これらの機能部２については詳細な説明を省略する。 In addition, as in the conveyor unit 1c shown in FIG. 10, a functional unit 2c that constitutes a branching path for discharging articles in an oblique direction, and a functional unit 2d that changes the path 360 degrees like the conveyor unit 1d shown in FIG. As in the conveyor unit 1e shown in FIG. 12, there is a functional unit 2e equipped with a robot. Detailed description of these functional units 2 is omitted.
　次に台車部５１について説明する。
　台車部５１は、四角形の本体部３２を有し、本体部３２の下に前記した自己移動手段１０が設けられている。
　また本体部３２の側面に、個別制御装置３０とコネクタ３１が設置されている。
　さらに本体部３２の前面と後面には連結手段３５と位置合わせ用センサー３６が設けられている。連結手段３５は、コンベヤユニット１同士を機械的に結合する機械的結合手段の一例である。 Next, the cart unit 51 will be described.
The cart 51 has a rectangular main body 32, and the self-moving means 10 described above is provided below the main body 32.
An individual control device 30 and a connector 31 are installed on the side surface of the main body 32.
Further, a connecting means 35 and an alignment sensor 36 are provided on the front and rear surfaces of the main body 32. The coupling means 35 is an example of a mechanical coupling means for mechanically coupling the conveyor units 1 to each other.
　また本体部３２内に蓄電池６６が内蔵されており、蓄電池６６を充電するための充電コネクタ６７が本体部３２から露出している。 Further, a storage battery 66 is built in the main body 32, and a charging connector 67 for charging the storage battery 66 is exposed from the main body 32.
　自己移動手段１０は、４個の車輪４６によって構成されている。各車輪４６は図示しないモータによって個別に回転する。即ち各車輪４６は、図１の矢印Ａの様に、正方向及び逆方向に回転する。
　また各車輪４６は、図示しないモータによって水平方向にも回転する。即ち各車輪は、図１の矢印Ｂの様に、水平方向にも回転し、走行方向を変更することができる。
　自己移動手段１０は、各車輪４６を異なる回転速度で回転することができ、且つ各車輪を水平方向に回転させて操舵することができる。
　そのため台車部５１は、直線方向に走行したり、曲路を走行することができる。また一定の位置に止まって旋回し、方向を変えることもできる。 The self moving means 10 is constituted by four wheels 46. Each wheel 46 is individually rotated by a motor (not shown). That is, each wheel 46 rotates in the forward direction and the reverse direction as indicated by an arrow A in FIG.
Each wheel 46 is also rotated in the horizontal direction by a motor (not shown). That is, each wheel rotates in the horizontal direction as shown by an arrow B in FIG. 1 and can change the traveling direction.
The self-moving means 10 can rotate each wheel 46 at different rotational speeds, and can steer by rotating each wheel in the horizontal direction.
Therefore, the trolley | bogie part 51 can drive | work in a linear direction or can drive | work a curved road. It is also possible to turn at a certain position and change direction.
　また本実施形態では、各車輪４６が動力によって昇降する。即ち各車輪４６は図１の矢印Ｃの様に、上下にも移動する。
　本実施形態では、自己移動手段１０は、蓄電池６６から電力供給を受けて駆動する。 Moreover, in this embodiment, each wheel 46 raises / lowers by motive power. That is, each wheel 46 moves up and down as indicated by an arrow C in FIG.
In the present embodiment, the self-moving means 10 is driven by receiving power supply from the storage battery 66.
　次に個別制御装置３０について説明する。
　本実施形態のコンベヤユニット１は、複数が連結されて一連のコンベヤ装置１００を構築するものであり、コンベヤ装置１００を分散制御するためのプログラムが個別制御装置３０に格納されている。即ち個別制御装置３０は、特許文献１，２のゾーンコントローラとしての機能を備えている。
　具体的には、個別制御装置３０には、図８の様に搬送ロジック記憶手段５２、搬送部制御手段５３、隣接ユニット間通信手段５５を内蔵している。 Next, the individual control device 30 will be described.
A plurality of conveyor units 1 of the present embodiment are connected to construct a series of conveyor devices 100, and a program for controlling the conveyor device 100 in a distributed manner is stored in the individual control device 30. That is, the individual control device 30 has a function as a zone controller disclosed in Patent Documents 1 and 2.
Specifically, as shown in FIG. 8, the individual control device 30 includes a conveyance logic storage unit 52, a conveyance unit control unit 53, and a communication unit 55 between adjacent units.
　即ち完成されたコンベヤ装置１００は、分散制御によって物品を搬送するものであり、隣接ユニット間通信手段５５によって隣接するコンベヤユニット１同士の間で通信が行われる。例えば、隣接するコンベヤユニット１に物品があるか否か、隣接するコンベヤユニット１が駆動しているか停止しているか、隣接するコンベヤユニット１に載置された物品の行き先情報等が個別制御装置３０の隣接ユニット間通信手段５５によって相互通信される。 That is, the completed conveyor apparatus 100 conveys articles by distributed control, and communication is performed between adjacent conveyor units 1 by the adjacent unit communication means 55. For example, whether or not there is an article in the adjacent conveyor unit 1, whether the adjacent conveyor unit 1 is driven or stopped, destination information of the article placed on the adjacent conveyor unit 1, etc. The communication means 55 between the adjacent units communicates with each other.
　搬送ロジック記憶手段５２には、機能部２のモータや方向変換機構の動作を制御するプログラムが記憶されている。
　例えば図１のコンベヤユニット１ａであれば、物品をコンベヤユニット１に導入する際の動作を実行させる制御プログラムと、物品を排出させる動作を実行させる制御プログラムが記憶されている。
　例えば、自己のコンベヤユニット１に物品がなく、上流側のコンベヤユニット１に物品がある場合に、機能部２を駆動して上流側のコンベヤユニット１から物品を搬入する導入プログラムが記憶されている。
　また自己のコンベヤユニット１に物品があり、下流側のコンベヤユニット１に物品が無い場合に、機能部２を駆動して自己のコンベヤユニット１から物品を排出する排出プログラムが記憶されている。
　搬送部制御手段５３は、機能部２のモータ等を駆動する回路である。 The transport logic storage unit 52 stores a program for controlling the operation of the motor of the function unit 2 and the direction changing mechanism.
For example, if it is the conveyor unit 1a of FIG. 1, the control program which performs the operation | movement at the time of introduce | transducing goods into the conveyor unit 1 and the control program which performs the operation | movement which discharges | emits goods are memorize | stored.
For example, when there is no article in the own conveyor unit 1 and there is an article in the upstream conveyor unit 1, an introduction program for driving the functional unit 2 to carry in the article from the upstream conveyor unit 1 is stored. .
Further, when there is an article in its own conveyor unit 1 and no article is in the downstream conveyor unit 1, a discharge program for driving the function unit 2 and discharging the article from its own conveyor unit 1 is stored.
The transport unit control means 53 is a circuit that drives the motor and the like of the functional unit 2.
　また本実施形態のコンベヤユニット１は、総括制御装置１０１からの信号によって、任意の位置に移動することができ、このための制御手段が個別制御装置３０に装備されている。
　具体的には、個別制御装置３０は、位置認識手段５６、位置補正手段５７、移動装置制御手段５８、自己認識手段６０、対総括制御装置通信手段６１を備えている。
　即ち本実施形態のコンベヤユニット１は、自己移動手段１０によって自走することができ、自己移動手段１０は個別制御装置３０の移動装置制御手段５８によって制御される。またコンベヤユニット１は、総括制御装置１０１で作図されたレイアウトの位置に自動的に移動する機能を備えている。
　即ち本実施形態のコンベヤユニット１の個別制御装置３０は、対総括制御装置通信手段（受信手段）６１を内蔵し、対総括制御装置通信手段６１から行き先が指定される。
　そして位置認識手段５６で自己の位置を認識し、移動装置制御手段５８によって自己移動手段１０が制御され、目的位置に誘導される。
　また位置補正手段５７には、位置合わせ用センサー３６の信号が入力され、コンベヤユニット１の位置が補正される。
　また自己の識別番号が自己認識手段６０に記憶される。 Further, the conveyor unit 1 of the present embodiment can be moved to an arbitrary position by a signal from the overall control device 101, and a control means for this purpose is provided in the individual control device 30.
Specifically, the individual control device 30 includes position recognition means 56, position correction means 57, movement device control means 58, self-recognition means 60, and general control device communication means 61.
That is, the conveyor unit 1 of this embodiment can be self-propelled by the self-moving means 10, and the self-moving means 10 is controlled by the moving device control means 58 of the individual control device 30. Further, the conveyor unit 1 has a function of automatically moving to the position of the layout drawn by the overall control device 101.
That is, the individual control device 30 of the conveyor unit 1 according to the present embodiment has a built-in control device communication means (reception means) 61 built in, and a destination is designated from the control device communication means 61.
Then, the position recognition means 56 recognizes its own position, and the movement device control means 58 controls the self movement means 10 to be guided to the target position.
The position correction means 57 receives a signal from the alignment sensor 36 and corrects the position of the conveyor unit 1.
The self identification number is stored in the self recognition means 60.
　コネクタ３１は、隣接するコンベヤユニット１との間で通信線や、電力線を連結するための機器である。
　連結手段３５は、隣接するコンベヤユニット１同士を機械的に接続するための機器である。
　個別制御装置３０はコネクタ３１及び蓄電池６６から電力供給を受けて動作する。 The connector 31 is a device for connecting a communication line or a power line with the adjacent conveyor unit 1.
The connecting means 35 is a device for mechanically connecting adjacent conveyor units 1 to each other.
The individual control device 30 operates by receiving power supply from the connector 31 and the storage battery 66.
　次に総括制御装置１０１について説明する。総括制御装置１０１は、レイアウト作成手段４０を備えている。レイアウト作成手段４０は具体的にはＣＡＤプログラムである。
　本実施形態では、総括制御装置１０１のＣＡＤ機能によってコンベヤ装置１００の設計を行うことができる。
　即ち総括制御装置１０１は入力手段４１を有し、入力手段４１を操作してコンベヤ装置１００のレイアウト設計を行うことができる。また総括制御装置１０１は表示手段４２を有し、表示手段４２に図４（ａ）の様なコンベヤ装置１００の搬送ラインのレイアウトを描くことができる。
　表示手段４２の画面には図４（ｂ）の様なコンベヤユニット１の機能を示すモデル図が表示されるので、使用者は搬送ラインのレイアウトにモデル図を当てはめることによって所望の機能を要するコンベヤユニット１を所望の位置に配置することができる。
　またコンベヤユニット１には固有の識別番号（ユニット特定情報）があり、モデル図を当てはめることによって、当該機能を有するコンベヤユニット１の識別番号がレイアウト上に表示される。
　説明の便宜上、識別番号は、１から１８の通し番号とし、レイアウト上には識別番号が１から１４のコンベヤユニット１が表示されている。
　また総括制御装置１０１は、現状レイアウト確認手段４３により、実際に施工されたコンベヤユニット１を表示することもできる。
　対個別制御装置通信手段４５は、個別制御装置３０と通信を行う手段である。 Next, the general control apparatus 101 will be described. The overall control apparatus 101 includes a layout creation means 40. The layout creating means 40 is specifically a CAD program.
In the present embodiment, the conveyor device 100 can be designed by the CAD function of the overall control device 101.
In other words, the overall control apparatus 101 includes the input unit 41, and the layout unit of the conveyor apparatus 100 can be designed by operating the input unit 41. The overall control apparatus 101 has display means 42, and the display means 42 can draw the layout of the transport line of the conveyor apparatus 100 as shown in FIG.
Since a model diagram showing the function of the conveyor unit 1 as shown in FIG. 4B is displayed on the screen of the display means 42, the user can apply a desired function by applying the model diagram to the layout of the transport line. The unit 1 can be arranged at a desired position.
The conveyor unit 1 has a unique identification number (unit identification information). By applying a model diagram, the identification number of the conveyor unit 1 having the function is displayed on the layout.
For convenience of explanation, the identification number is a serial number from 1 to 18, and the conveyor unit 1 with the identification number from 1 to 14 is displayed on the layout.
The overall control apparatus 101 can also display the actually installed conveyor unit 1 by the current layout confirmation unit 43.
The individual control device communication means 45 is means for communicating with the individual control device 30.
　位置基準装置１０２は、コンベヤ装置１００を設置する部屋にあり、座標の基準となるものであり、電波や光によってコンベヤユニット１の位置を確認する際の基準を作るものである。本実施形態では、位置基準装置１０２と個別制御装置３０の位置認識手段５６によって測位システムが構築される。 The position reference device 102 is located in the room where the conveyor device 100 is installed, and serves as a reference for coordinates. The position reference device 102 makes a reference for confirming the position of the conveyor unit 1 by radio waves or light. In the present embodiment, a positioning system is constructed by the position reference device 102 and the position recognition means 56 of the individual control device 30.
　次に、コンベヤ装置１００の機能について説明する。
　本実施形態は、総括制御装置１０１で搬送ラインのレイアウトを設計し、コンベヤユニット１を自走させて所望のレイアウト及び機能を備えたコンベヤ装置１００を構築することができるものである。
　新たにコンベヤ装置１００を構築する場合には、総括制御装置１０１のレイアウト作成手段４０のＣＡＤ機能で、図４（ａ）の様なコンベヤ装置１００のレイアウトを作図する。さらにレイアウトに図４（ｂ）のモデル図を当てはめる。
　その結果、図４（ａ）の様に、該当するコンベヤユニット１の識別番号（ユニット特定情報）がレイアウト上に表示される。 Next, functions of the conveyor device 100 will be described.
In the present embodiment, the overall control device 101 can design a conveyor line layout, and the conveyor unit 1 can be self-propelled to construct a conveyor device 100 having a desired layout and function.
When a new conveyor apparatus 100 is constructed, the layout of the conveyor apparatus 100 as shown in FIG. 4A is drawn by the CAD function of the layout creating means 40 of the overall control apparatus 101. Further, the model diagram of FIG. 4B is applied to the layout.
As a result, as shown in FIG. 4A, the identification number (unit identification information) of the corresponding conveyor unit 1 is displayed on the layout.
　そして所望の操作を行うことにより、コンベヤユニット１が自走し、レイアウトに相当する位置に該当する識別番号のコンベヤユニット１が移動する。
　図５（ａ）は、準備段階における配送場の平面図である。準備段階においては、識別番号１乃至１８のコンベヤユニット１は、部屋の端に並べられている。
　また図示しない給電装置があり、蓄電池６６の充電コネクタ６７が給電装置に接続されている。 And by performing desired operation, the conveyor unit 1 self-propels and the conveyor unit 1 of the identification number corresponding to the position corresponding to a layout moves.
FIG. 5A is a plan view of the delivery place in the preparation stage. In the preparation stage, the conveyor units 1 with identification numbers 1 to 18 are arranged at the end of the room.
There is a power supply device (not shown), and a charging connector 67 of the storage battery 66 is connected to the power supply device.
　なお図５（ａ）の二点鎖線で描かれたレイアウトは、参考として付されたに過ぎず、実際の配送場の床には、この様な線図は存在しない。 Note that the layout drawn with a two-dot chain line in FIG. 5 (a) is only provided as a reference, and such a diagram does not exist on the floor of the actual delivery area.
　総括制御装置１０１の図示しない移動開始スイッチを操作すると、配送場の横に並べられたコンベヤユニット１が起動し、自己移動手段１０によってコンベヤユニット１が移動する。
　例えば、コンベヤ装置１００の端部にあるべきＮＯ１のコンベヤユニット１が所定の位置に移動する。
　具体的には総括制御装置１０１からＮＯ１のコンベヤユニット１の個別制御装置３０に、コンベヤ装置１００の先頭位置を知らせ、当該位置に移動する様に指令する。
　対総括制御装置通信手段６１の受信機能によって指令を受信したＮＯ１のコンベヤユニット１は、位置認識手段５６が室内に置かれた位置基準装置１０２に基づいて自己の現在の位置を認識し、目標位置に移動する様に自己移動手段１０を駆動する。 When a movement start switch (not shown) of the overall control apparatus 101 is operated, the conveyor units 1 arranged beside the delivery area are activated, and the conveyor unit 1 is moved by the self-moving means 10.
For example, the NO1 conveyor unit 1 that should be at the end of the conveyor apparatus 100 moves to a predetermined position.
Specifically, the general control device 101 notifies the individual control device 30 of the conveyor unit 1 of NO1 of the leading position of the conveyor device 100 and instructs to move to the position.
The conveyor unit 1 of NO1 that has received the command by the reception function of the overall control device communication means 61 recognizes its current position based on the position reference device 102 in which the position recognition means 56 is placed in the room, and the target position The self-moving means 10 is driven so as to move.
　ここで本実施形態のコンベヤ装置１００では、総括制御装置１０１が走行ルート検索機能を備えており、自己の現在の位置から目標位置に移動するための最短ルートを検索する。そしてコンベヤユニット１はその最短ルートに沿って移動し、目標位置に達する。 Here, in the conveyor apparatus 100 of this embodiment, the general control apparatus 101 has a travel route search function, and searches for the shortest route for moving from its current position to the target position. The conveyor unit 1 moves along the shortest route and reaches the target position.
　続いてＮＯ１のコンベヤユニット１に連結されるべきＮＯ２のコンベヤユニット１が所定の位置に移動する。
　ＮＯ２のコンベヤユニット１についても、自己の現在の位置を認識し、目標位置に移動する様に自己移動手段１０を駆動する。 Subsequently, the NO2 conveyor unit 1 to be connected to the NO1 conveyor unit 1 moves to a predetermined position.
The NO2 conveyor unit 1 also recognizes its current position and drives the self-moving means 10 so as to move to the target position.
　またＮＯ２のコンベヤユニット１が移動するのに際しても、総括制御装置１０１が最短ルートを検索し、その最短ルートに沿って移動し、目標位置に達する。ここで、ＮＯ２のコンベヤユニット１以降のコンベヤユニット１は、既に何台かのコンベヤユニット１が先に移動しており、最短ルートに障害物がある場合がある。その様な場合は、障害物を回避した走行経路が検索され、そのルートに沿って移動する。
　さらに走行ルート上に総括制御装置１０１が認識してない障害物があり、コンベヤユニット１が当該障害物と衝突した場合は、走行ルートをキャンセルし、新たに走行ルートが検索される。 Also, when the NO2 conveyor unit 1 moves, the overall control apparatus 101 searches for the shortest route, moves along the shortest route, and reaches the target position. Here, as for the conveyor unit 1 after the NO2 conveyor unit 1, some conveyor units 1 have already moved first, and there may be an obstacle on the shortest route. In such a case, a travel route that avoids the obstacle is searched, and the vehicle travels along the route.
Further, when there is an obstacle on the travel route that is not recognized by the overall control apparatus 101 and the conveyor unit 1 collides with the obstacle, the travel route is canceled and a new travel route is searched.
　ＮＯ２のコンベヤユニット１がＮＯ１のコンベヤユニット１に近づくと、ＮＯ１のコンベヤユニット１の位置合わせ用センサー３６と、続くＮＯ２のコンベヤユニット１の位置合わせ用センサー３６が互いに反応し、ＮＯ２のコンベヤユニット１の位置を補正しつつＮＯ２のコンベヤユニット１をＮＯ１のコンベヤユニット１に真っ直ぐに近づけてゆく。
　そしてＮＯ２のコンベヤユニット１が先のコンベヤユニット１と接触すると、互いのコネクタ３１と、連結手段３５が自動的に連結される。 When the NO2 conveyor unit 1 approaches the NO1 conveyor unit 1, the alignment sensor 36 of the NO1 conveyor unit 1 and the alignment sensor 36 of the subsequent NO2 conveyor unit 1 react with each other, and the NO2 conveyor unit 1 The NO2 conveyor unit 1 is brought close to the NO1 conveyor unit 1 while correcting the position.
When the NO2 conveyor unit 1 comes into contact with the previous conveyor unit 1, the connectors 31 and the connecting means 35 are automatically connected.
　また本実施形態のコンベヤユニット１は、各車輪４６が動力によって昇降可能であり、自動的にレベル合わせが行われる。
　即ちＮＯ２のコンベヤユニット１の高さがＮＯ１のコンベヤユニット１の高さと揃う様に、各車輪４６が昇降し、隣接するコンベヤユニット１のレベル合わせが行われる。 Further, in the conveyor unit 1 of this embodiment, each wheel 46 can be moved up and down by power, and the level is automatically adjusted.
That is, the wheels 46 are moved up and down so that the level of the adjacent conveyor unit 1 is adjusted so that the height of the NO2 conveyor unit 1 is aligned with the height of the NO1 conveyor unit 1.
　こうして図５（ｂ）の様に次々にコンベヤユニット１が移動し、図６（ａ）の様な搬送ラインのコンベヤ装置１００が完成する。
　なお余ったコンベヤユニット１は、図６（ａ）の様に、邪魔にならない場所に移動する。 In this way, the conveyor units 1 move one after another as shown in FIG. 5B, and the conveyor device 100 of the conveying line as shown in FIG. 6A is completed.
The remaining conveyor unit 1 moves to a place where it does not get in the way as shown in FIG.
　コンベヤ装置１００のレイアウトを変更する場合には、総括制御装置１０１のＣＡＤ機能で、コンベヤ装置１００の変更後のレイアウトを作図する。
　そして総括制御装置１０１の図示しない移動開始スイッチを操作すると、図６（ｂ）の様に変更部分に相当するコンベヤユニット１が自走し、新たな位置に移動する。 When the layout of the conveyor apparatus 100 is changed, the layout after the change of the conveyor apparatus 100 is drawn by the CAD function of the overall control apparatus 101.
When a movement start switch (not shown) of the overall control apparatus 101 is operated, the conveyor unit 1 corresponding to the changed portion is self-propelled as shown in FIG. 6B and moved to a new position.
　次に、一時的に通路を確保する場合の動きについて説明する。
　例えば図７（ａ）の様に、フォークリフト１０５等のマテリアルハンド装置によって物品を搬送する必要が生じた場合、予め定められた手順によって、コンベヤ装置１００の一部が分断され、フォークリフト１０５の走行路が確保される。
　即ち図７（ａ）の様に、フォークリフト１０５がコンベヤ装置１００に近づくと、図７（ｂ）の様に、一部のコンベヤユニット１が自走し、コンベヤ装置１００の搬送ラインを分断してフォークリフト１０５の走行路を開く。
　そして図７（ｂ）の様に、コンベヤ装置１００を分断して現れた走行路をフォークリフト１０５が通過し、コンベヤ装置１００を横断する。 Next, the movement when a passage is temporarily secured will be described.
For example, as shown in FIG. 7A, when it is necessary to transport an article by a material hand device such as a forklift 105, a part of the conveyor device 100 is divided by a predetermined procedure, and the travel path of the forklift 105 Is secured.
That is, as shown in FIG. 7A, when the forklift 105 approaches the conveyor device 100, as shown in FIG. 7B, some of the conveyor units 1 are self-propelled and the conveyor line of the conveyor device 100 is divided. The travel path of the forklift 105 is opened.
Then, as shown in FIG. 7B, the forklift 105 passes through the traveling path that appears by dividing the conveyor device 100 and crosses the conveyor device 100.
　以上説明した実施形態では、配送場に位置基準装置１０２を設置し、位置基準装置１０２とコンベヤユニット１との通信によってコンベヤユニット１の位置を認識させたが、本発明はこの構成に限定されるものではない。
　例えば配送場の床に信号線を張りめぐらせ、信号線によってコンベヤユニット１の位置を認識させてもよい。 In the embodiment described above, the position reference device 102 is installed in the delivery area, and the position of the conveyor unit 1 is recognized by communication between the position reference device 102 and the conveyor unit 1. However, the present invention is limited to this configuration. It is not a thing.
For example, a signal line may be stretched around the floor of the delivery area, and the position of the conveyor unit 1 may be recognized by the signal line.
　以上説明した実施形態では、コンベヤユニット１同士が接触すると、互いのコネクタ３１と、連結手段３５が自動的に連結される構成を採用したが、これらの接合を作業者が行ってもよい。 In the embodiment described above, when the conveyor units 1 are in contact with each other, the configuration in which the connectors 31 and the connecting means 35 are automatically connected is adopted. However, an operator may perform these connections.
　以上説明した実施形態では、コンベヤユニット１によってコンベヤ装置１００を構築する際の動作を中心に説明したが、コンベヤユニット１に物品を搭載し、この状態で自己移動手段１０を駆動して物品を搬送してもよい。
　例えば、コンベヤユニット１に物品を搭載し、この状態で自己移動手段１０を駆動してコンベヤユニット１を移動して、既設のコンベヤ装置（他の搬送機器）に連結する。そしてコンベヤユニット１の機能部２を駆動して既設のコンベヤ装置に物品を送りだす。 In the above-described embodiment, the operation when the conveyor apparatus 100 is constructed by the conveyor unit 1 has been mainly described. However, the article is mounted on the conveyor unit 1 and the article is conveyed by driving the self-moving means 10 in this state. May be.
For example, articles are mounted on the conveyor unit 1, and in this state, the self-moving means 10 is driven to move the conveyor unit 1 and connect to an existing conveyor device (another transfer device). Then, the functional unit 2 of the conveyor unit 1 is driven to send the article to the existing conveyor device.
　以上説明した実施形態では、コンベヤユニット１が個々に独立して走行し、一連のコンベヤ装置１００を構築したが、複数のコンベヤユニット１が連結された状態で移動してもよい。例えば、図１３の様に、二つのコンベヤユニット１ａが別の場所で連結され、その状態で移動して他のコンベヤユニット１ａと結合してもよい。 In the embodiment described above, the conveyor units 1 travel independently and construct a series of conveyor devices 100. However, a plurality of conveyor units 1 may move in a connected state. For example, as shown in FIG. 13, two conveyor units 1a may be connected at different locations, moved in that state, and combined with other conveyor units 1a.
　また各コンベヤユニット１が自己の機能を発揮できる様に姿勢や向きを自動変更するものであってもよい。
　例えば図１４の様に分岐機能を備えたコンベヤユニット１ｂに、直線搬送のみを行うコンベヤユニット１ａが接続される場合、仮に図１４（ａ）の様にコンベヤユニット１ｂにコンベヤユニット１ａが接近したと仮定する。
　このとき、仮にコンベヤユニット１ａの物品搬送方向が、図１４（ｂ）の様に既設のコンベヤユニット１ｂの物品搬出方向と交差するものであるならば、図１４（ｃ）の様に近接側の既設のコンベヤユニット１ａがその場で旋回し、向きを変える。そしてコンベヤユニット１ａの物品搬送方向が、コンベヤユニット１ｂの物品搬出方向に沿った姿勢となる。
　この状態で、コンベヤユニット１ａがコンベヤユニット１ｂにさらに近づき、連結される。 Moreover, you may change an attitude | position and direction automatically so that each conveyor unit 1 can exhibit its function.
For example, when the conveyor unit 1a that performs only linear conveyance is connected to the conveyor unit 1b having a branch function as shown in FIG. 14, if the conveyor unit 1a approaches the conveyor unit 1b as shown in FIG. Assume.
At this time, if the article conveying direction of the conveyor unit 1a intersects the article carrying direction of the existing conveyor unit 1b as shown in FIG. 14 (b), the adjacent side as shown in FIG. 14 (c). The existing conveyor unit 1a turns on the spot and changes its direction. And the article conveyance direction of the conveyor unit 1a becomes a posture along the article carrying-out direction of the conveyor unit 1b.
In this state, the conveyor unit 1a further approaches and is connected to the conveyor unit 1b.
　また上記した実施形態のコンベヤユニット１は、いずれもコンベヤユニット１自体を移動させる自己移動手段１０を備えており、単独で移動することができる。
　しかしながら本発明はこの構成に限定されるものではなく、図１５のコンベヤユニット６３の様に別途の移動手段６２によって従動的に移動されるものであってもよい。 In addition, each of the conveyor units 1 according to the above-described embodiments includes self-moving means 10 that moves the conveyor unit 1 itself, and can move independently.
However, the present invention is not limited to this configuration, and may be moved by a separate moving means 62 like the conveyor unit 63 of FIG.
　図１５に示すコンベヤユニット６３は、前記したコンベヤユニットと同様に機能部２ａを有しているが、自己移動手段１０は備わっていない。
　移動手段６２は、小型の走行装置であり、前記した台車部５１と同様の、４個の車輪４６を有している。各車輪４６は図示しないモータによって個別に回転する。また各車輪４６は、水平方向にも回転する。移動手段６２の各車輪４を異なる回転速度で回転することができ、且つ各車輪を水平方向に回転させて操舵することができる。
　図１５に示すコンベヤユニット６３は、移動手段６２と連結され、移動手段６２に押されて移動する。 Although the conveyor unit 63 shown in FIG. 15 has the function part 2a like the above-described conveyor unit, the conveyor unit 63 does not include the self-moving means 10.
The moving means 62 is a small traveling device, and has four wheels 46 similar to the above-described carriage unit 51. Each wheel 46 is individually rotated by a motor (not shown). Each wheel 46 also rotates in the horizontal direction. Each wheel 4 of the moving means 62 can be rotated at different rotational speeds and can be steered by rotating each wheel in the horizontal direction.
The conveyor unit 63 shown in FIG. 15 is connected to the moving means 62 and is moved by being pushed by the moving means 62.
　図１５に示すコンベヤユニット６３においては、各車輪４６は単に自力では回転せず、空転するものである。また各車輪４６は水平方向にも空転し、移動手段６２が押す向きに応じて走行方向が変わる。
　ただし本実施形態においても、各車輪４６が動力によって昇降する。即ち各車輪４６は図１の矢印Ｃの様に、上下にも移動する。 In the conveyor unit 63 shown in FIG. 15, each wheel 46 does not rotate by itself but idles. Each wheel 46 also idles in the horizontal direction, and the traveling direction changes according to the direction in which the moving means 62 pushes.
However, also in this embodiment, each wheel 46 moves up and down by power. That is, each wheel 46 moves up and down as indicated by an arrow C in FIG.
　本実施形態のコンベヤユニット６３は、自己移動手段１０を有しないので、部品点数が少なく、構造が簡単である。
　また移動手段６２を往復させることにより、少ない数の移動手段６２で全てコンベヤユニット６３を移動させることができる。 Since the conveyor unit 63 of this embodiment does not have the self-moving means 10, the number of parts is small and the structure is simple.
Further, by reciprocating the moving means 62, the conveyor unit 63 can be moved entirely by a small number of moving means 62.
　移動手段６２に押され、又は牽引されてコンベヤユニットを走行させる場合、車輪４６の部分は、単に空転するもので足りるから、図１７に示すコンベヤユニット７０の様に、車輪４６部分だけを別の部材としてもよい。
　図１７に示すコンベヤユニット７０は、本体部７１と走行輪部７２によって構成されている。本体部７１は、先に例示したコンベヤユニット７０の車輪４６の部分を除いたものであり、台車部５１の他の主要構成と、機能部２を有している。
　走行輪部７２は、板体７５の下面に車輪７３が取り付けられたものである。
　走行輪部７２を規格化して、各種の機能部２を搭載することができるものとすることが望ましい。 When the conveyor unit is moved by being pushed or pulled by the moving means 62, it is sufficient that the part of the wheel 46 is idling. Therefore, like the conveyor unit 70 shown in FIG. It is good also as a member.
A conveyor unit 70 shown in FIG. 17 includes a main body 71 and a traveling wheel 72. The main body portion 71 is obtained by removing the wheel 46 portion of the conveyor unit 70 exemplified above, and has the other main components of the carriage unit 51 and the functional unit 2.
The traveling wheel portion 72 has a wheel 73 attached to the lower surface of the plate body 75.
It is desirable to standardize the traveling wheel part 72 so that various functional parts 2 can be mounted.
　上記した実施形態のコンベヤユニット１は、台車部５１に機能部２が搭載されている。が、台車部５１と機能部２の大きさを規格化することにより、台車部５１及び機能部２の汎用性を高めることができる。
　例えば、図１６の様に、台車部５１と機能部２をそれぞれユニット化し、台車部５１に任意の機能部２を載せ変えることができる様に構成することが推奨される。 In the conveyor unit 1 of the above-described embodiment, the functional unit 2 is mounted on the carriage unit 51. However, by standardizing the sizes of the cart unit 51 and the function unit 2, the versatility of the cart unit 51 and the function unit 2 can be enhanced.
For example, as shown in FIG. 16, it is recommended that the cart unit 51 and the functional unit 2 be unitized and configured so that an arbitrary functional unit 2 can be mounted on the cart unit 51.
　上記した実施形態のコンベヤユニット１，６３は、物品を平面的に搬送するコンベヤ装置１００を構築するものであるが、立体構造のコンベヤ装置に適用するコンベヤユニット６５も考えられる。
　図１８に示すコンベヤユニット６５は、台車部５１上に、機能部２ａが二階建て状に設置されている。
　図１８に示すコンベヤユニット６５を組み合わせることにより、立体構造のコンベヤ装置を構築することができる。
　図１８に示すコンベヤユニット６５は、直線方向に物品を搬送する機能部２ａが２列、並行に配置されているが、２基の機能部２ａが上下に立体交差して配置されたものも考えられる。 The conveyor units 1 and 63 of the above-described embodiment are for constructing the conveyor device 100 that transports articles in a planar manner, but a conveyor unit 65 that is applied to a three-dimensional conveyor device is also conceivable.
In the conveyor unit 65 shown in FIG. 18, the functional unit 2 a is installed on the carriage unit 51 in a two-story manner.
By combining the conveyor unit 65 shown in FIG. 18, a three-dimensional conveyor device can be constructed.
The conveyor unit 65 shown in FIG. 18 has two rows of functional units 2a that convey articles in a straight line and are arranged in parallel, but two functional units 2a may be arranged in a three-dimensional crossing up and down. It is done.
　図１９に示すコンベヤユニット７５は、２基の機能部２ａが上下に立体交差して配置されたものである。
　また前記した図１８、図１９に記載したコンベヤユニット６５，７５は、一階部分と二階部分を有し、それぞれに機能部２ａが設置されているが、上階部分だけを有するものであってもよい。
　図２０に示すコンベヤユニット７６は、二階部分だけを有する構造であり、高い位置に機能部２ａが設けられている。 A conveyor unit 75 shown in FIG. 19 is configured such that two functional units 2a are three-dimensionally crossed up and down.
The conveyor units 65 and 75 described in FIGS. 18 and 19 have a first floor portion and a second floor portion, and each has a functional unit 2a, but only the upper floor portion. Also good.
The conveyor unit 76 shown in FIG. 20 has a structure having only the second floor portion, and the functional unit 2a is provided at a high position.
　図１８、図１９、図２０に図示した二階部分を有するコンベヤユニット６５，７５，７６は、いずれも台車部５１の真上の領域に機能部２ａが設置されているが、機能部２ａが台車部５１に対してオフセットした位置にあってもよい。
　図２１に示すコンベヤユニット７７は、上下に機能部２ａがあり、且つ機能部２ａの位置が水平方向にずれている。
　即ち図２１に示すコンベヤユニット７７は、台車部５１の上に下部側の機能部２Ｌａがあり、且つ高さ方向には下部側の機能部２Ｌａよりも上であり、且つ水平方向には台車部５１からずれた位置に上部の機能部２Ｈａが設置されている。
　また図２２に示すコンベヤユニット７８は、二階部分だけを有する構造であり、高い位置であって且つ台車部５１に対してオフセットした位置に機能部２ａが設置されている。　　 The conveyor units 65, 75, and 76 having the second floor shown in FIGS. 18, 19, and 20 are all provided with the functional unit 2a in the region immediately above the carriage unit 51. However, the functional unit 2a is a carriage. The position may be offset with respect to the portion 51.
The conveyor unit 77 shown in FIG. 21 has the functional part 2a up and down, and the position of the functional part 2a is shifted in the horizontal direction.
That is, the conveyor unit 77 shown in FIG. 21 has a lower-side functional unit 2La on the carriage unit 51, is higher than the lower-side functional unit 2La in the height direction, and is in the horizontal direction a carriage unit. The upper functional unit 2Ha is installed at a position shifted from the position 51.
Further, the conveyor unit 78 shown in FIG. 22 has a structure having only the second floor portion, and the functional unit 2 a is installed at a high position and offset with respect to the carriage unit 51.
　上記した実施形態の機能部２は、いずれも物品を搬送する機能を有するものであるが、本発明は、この構成に限定されるものではない。
　例えば物品に外力を加えて所定の加工を行う機能部であってもよい。また加熱、消毒、包装、熱処理等を行う機能部であってもよい。さらに全長測定、重量測定等を行う機能部や、物品の行き先を確認する機能部であってもよい。 All of the functional units 2 of the above-described embodiment have a function of conveying an article, but the present invention is not limited to this configuration.
For example, it may be a functional unit that applies predetermined force to the article to perform a predetermined process. Moreover, the function part which performs a heating, disinfection, packaging, heat processing, etc. may be sufficient. Further, it may be a functional unit that performs full length measurement, weight measurement, or the like, or a functional unit that confirms the destination of an article.
　以上説明したコンベヤユニット１，６３，６５，７０，７５，７６，７７，７８は、いずれも車輪４６を有するものであるが、自走する機能を持たないコンベヤユニットであるならばも必ずしも車輪４６は必要ではない。
　例えば図２３に示すコンベヤユニット８０の様に、本体部３２に車輪４６に代わって固定脚８１を有するものであってもよい。
　また移動手段８２は、小型の走行装置であり、４個の車輪４６を有している。各車輪４６は図示しないモータによって個別に回転する。また各車輪４６は、図示しないモータによって水平方向にも回転する。移動手段８２の各車輪４を異なる回転速度で回転することができ、且つ各車輪を水平方向に回転させて操舵することができる。
　また移動手段８２は、上面に昇降台８５を有している。
　昇降台８５は、図示しないアクチェータによって垂直方向に昇降する。 The conveyor units 1, 63, 65, 70, 75, 76, 77, and 78 described above all have wheels 46, but the wheels 46 are not necessarily required if they are conveyor units that do not have a self-propelled function. Is not necessary.
For example, like the conveyor unit 80 shown in FIG. 23, you may have the fixed leg 81 in the main-body part 32 instead of the wheel 46. FIG.
The moving means 82 is a small traveling device and has four wheels 46. Each wheel 46 is individually rotated by a motor (not shown). Each wheel 46 is also rotated in the horizontal direction by a motor (not shown). Each wheel 4 of the moving means 82 can be rotated at different rotational speeds, and each wheel can be steered by rotating in the horizontal direction.
Moreover, the moving means 82 has the raising / lowering stand 85 on the upper surface.
The elevator 85 is moved up and down in the vertical direction by an actuator (not shown).
　コンベヤユニット８０を移動させる場合には、図２３（ｂ）、図２４（ａ）の様に移動手段８２をコンベヤユニット８０の本体部３２の下にもぐりこませる。そして図２４（ｂ）の様に昇降台８５を上昇させ、昇降台８５でコンベヤユニット８０をすくい上げる。その後、車輪４６を回転し、コンベヤユニット８０を所望の場所に運搬する。そして当該位置で昇降台８５を降下し、本体部３２の固定脚８１を着地させる。 When the conveyor unit 80 is moved, the moving means 82 is moved under the main body 32 of the conveyor unit 80 as shown in FIGS. 23 (b) and 24 (a). Then, as shown in FIG. 24 (b), the elevator 85 is raised and the conveyor unit 80 is scooped up by the elevator 85. Thereafter, the wheels 46 are rotated to convey the conveyor unit 80 to a desired place. Then, the elevator 85 is lowered at the position, and the fixed leg 81 of the main body 32 is landed.
１，６３，６５，７０，７５　コンベヤユニット
７６，７７，７８，８０　コンベヤユニット
２　機能部
１０　自己移動手段
３０　個別制御装置
３１　コネクタ
１００　コンベヤ装置
１０１　総括制御装置 1, 63, 65, 70, 75 Conveyor unit 76, 77, 78, 80 Conveyor unit 2 Function unit 10 Self-moving means 30 Individual control device 31 Connector 100 Conveyor device 101 Overall control device

Claims (25)

  1. 　物品を搬送するコンベヤ装置において、複数のコンベヤユニットを有し、当該コンベヤユニットは、物品の移動、物品の姿勢変更、物品の加工、物品の測定、物品の確認の少なくともいずれかを実行する機能部を有し、
    　コンベヤユニット自体を移動可能であり、
    　所定の信号に応じてコンベヤユニットが移動して他のコンベヤユニット又は他の搬送機器の近傍に移動し、
    　所望の搬送ラインを構築することを特徴とするコンベヤ装置。     In a conveyor apparatus for conveying an article, the conveyor unit includes a plurality of conveyor units, and the conveyor unit performs at least one of movement of an article, change of an attitude of an article, processing of an article, measurement of an article, and confirmation of an article. Have
    The conveyor unit itself can be moved,
    In response to a predetermined signal, the conveyor unit moves and moves to the vicinity of another conveyor unit or other transport device,
    A conveyor apparatus characterized by constructing a desired conveyance line.
  2. 　機能部はコンベヤユニット上で物品を移動または物品を姿勢変更させるものであり、コンベヤユニット自体を移動させる自己移動手段を有し、
    　所定の信号に応じてコンベヤユニットの自己移動手段が機能して他のコンベヤユニットの近傍に移動し、
    　所望の搬送ラインを構築することを特徴とする請求項１に記載のコンベヤ装置。     The functional unit moves the article on the conveyor unit or changes the attitude of the article, and has a self-moving means for moving the conveyor unit itself,
    The self-moving means of the conveyor unit functions in response to a predetermined signal and moves to the vicinity of another conveyor unit,
    The conveyor apparatus according to claim 1, wherein a desired conveyance line is constructed.
  3. 　他の移動手段によってコンベヤユニットが移動するものであることを特徴とする請求項１に記載のコンベヤ装置。 The conveyor apparatus according to claim 1, wherein the conveyor unit is moved by other moving means.
  4. 　複数の搬送ゾーンによって構成された分散制御方式のコンベヤ装置であり、コンベヤユニットが一つの搬送ゾーンを構成するものであり、
    　前記コンベヤユニットは、隣接ユニット間通信手段を有し、当該隣接ユニット間通信手段によって隣接するコンベヤユニット間で通信が行われることを特徴とする請求項１乃至３のいずれかに記載のコンベヤ装置。     It is a decentralized control type conveyor device constituted by a plurality of conveyance zones, and the conveyor unit constitutes one conveyance zone,
    The conveyor apparatus according to any one of claims 1 to 3, wherein the conveyor unit includes a communication unit between adjacent units, and communication is performed between adjacent conveyor units by the communication unit between adjacent units.
  5. 　複数の搬送ゾーンによって構成された分散制御方式のコンベヤ装置であり、コンベヤユニットが一つの搬送ゾーンを構成するものであり、
    　前記コンベヤユニットは、自己の搬送ゾーンを動作させるプログラムが格納された個別制御装置を有することを特徴とする請求項１乃至４のいずれかに記載のコンベヤ装置。     It is a decentralized control type conveyor device constituted by a plurality of conveyance zones, and the conveyor unit constitutes one conveyance zone,
    The conveyor apparatus according to any one of claims 1 to 4, wherein the conveyor unit includes an individual control device in which a program for operating its own transport zone is stored.
  6. 　総括制御装置を有し、総括制御装置から信号を発信し、コンベヤユニットはその信号を受信して移動し、一連の搬送ラインが構築されることを特徴とする請求項１乃至５のいずれかに記載のコンベヤ装置。 6. The system according to claim 1, further comprising a general control device, wherein a signal is transmitted from the general control device, and the conveyor unit receives the signal and moves to construct a series of conveyance lines. The conveyor device described.
  7. 　コンベヤユニットには当該コンベヤユニットを特定するユニット特定情報が付与され、外部の装置で搬送ラインのレイアウトを作成し、且つレイアウトにユニット特定情報を付すことが可能であり、搬送ラインのレイアウトに付されたユニット特定情報の位置に向かって、各コンベヤユニットを走行させることが可能であることを特徴とする請求項１乃至６のいずれかに記載のコンベヤ装置。 Unit identification information for identifying the conveyor unit is given to the conveyor unit, and it is possible to create a transfer line layout by an external device and attach the unit identification information to the layout. 7. The conveyor apparatus according to claim 1, wherein each conveyor unit can be moved toward the position of the unit specifying information.
  8. 　コンベヤユニットは、電気的結合手段を有し、コンベヤユニットは他のコンベヤユニットの近傍に移動し、自動的に電気的結合手段で結合されることを特徴とする請求項１乃至７のいずれかに記載のコンベヤ装置。 The conveyor unit has electrical coupling means, and the conveyor unit moves in the vicinity of another conveyor unit and is automatically coupled by the electrical coupling means. The conveyor device described.
  9. 　コンベヤユニットは、機械的結合手段を有し、コンベヤユニットは他のコンベヤユニットの近傍に移動し、自動的に機械的結合手段で結合されることを特徴とする請求項１乃至８のいずれかに記載のコンベヤ装置。 The conveyor unit has a mechanical coupling means, and the conveyor unit moves in the vicinity of another conveyor unit and is automatically coupled by the mechanical coupling means. The conveyor device described.
  10. 　コンベヤユニットは、高さ合わせ機能を備え、コンベヤユニットは他のコンベヤユニットの近傍に移動して、隣接するコンベヤユニット間の高さを自動的に合わすことができることを特徴とする請求項１乃至９のいずれかに記載のコンベヤ装置。 The conveyor unit has a height adjusting function, and the conveyor unit can move to the vicinity of another conveyor unit to automatically adjust the height between adjacent conveyor units. The conveyor apparatus in any one of.
  11. 　コンベヤユニットは、測位システム機能を有するものであることを特徴とする請求項１乃至１０のいずれかに記載のコンベヤ装置。 The conveyor device according to any one of claims 1 to 10, wherein the conveyor unit has a positioning system function.
  12. 　マテリアルハンド機械が近接すると、コンベヤユニットが移動して搬送ラインが分断されてマテリアルハンド機械の走行路を確保する走行路確保機能を備えることを特徴とする請求項１乃至１１のいずれかに記載のコンベヤ装置。 12. The vehicle according to claim 1, further comprising a travel path securing function that secures a travel path of the material hand machine by moving the conveyor unit when the material hand machine comes close to the transport line. Conveyor device.
  13. 　走行ルート検索機能を備えており、自己の現在の位置から目標位置に移動するためのルートを検索し、コンベヤユニットはそのルートに沿って移動することを特徴とする請求項１乃至１２のいずれかに記載のコンベヤ装置。 13. A travel route search function is provided, a route for moving from its current position to a target position is searched, and the conveyor unit moves along the route. The conveyor apparatus as described in.
  14. 　コンベヤユニットは、位置補正手段を有し、コンベヤユニットが移動して接続されるべき停止側のコンベヤユニットに近く際、移動側のコンベヤユニットは、位置を補正しつつ停止側のコンベヤユニット近づいて行くことを特徴とする請求項１乃至１３のいずれかに記載のコンベヤ装置。 The conveyor unit has position correction means, and when the conveyor unit is moved and close to the stop-side conveyor unit to be connected, the moving-side conveyor unit approaches the stop-side conveyor unit while correcting the position. The conveyor apparatus according to any one of claims 1 to 13,
  15. 　コンベヤユニットは、自己の機能を発揮できる様に姿勢又は向きの少なくともいずれかを自動変更することが可能であることを特徴とする請求項１乃至１４のいずれかに記載のコンベヤ装置。 The conveyor device according to any one of claims 1 to 14, wherein the conveyor unit can automatically change at least one of a posture and an orientation so as to exhibit its function.
  16. 　コンベヤ装置は、上下に搬送ラインを有する立体構造であり、上段の搬送ラインを構築するコンベヤユニットを含むことを特徴とする請求項１乃至１５のいずれかに記載のコンベヤ装置。 The conveyor device according to any one of claims 1 to 15, wherein the conveyor device has a three-dimensional structure having transport lines at the top and bottom, and includes a conveyor unit that constructs an upper transport line.
  17. 　複数繋がって一連の搬送ラインを構築するコンベヤユニットにおいて、物品の移動、物品の姿勢変更、物品の加工、物品の測定、物品の確認の少なくともいずれかを実行する機能部と、コンベヤユニット自体を移動させる自己移動手段と、信号を受信する受信手段を有し、
    　所定の信号に応じて前記自己移動手段が機能し、自走して所望の位置に移動することを特徴とするコンベヤユニット。     In a conveyor unit that connects multiple units and constructs a series of transfer lines, the function unit that executes at least one of movement of an article, change of the attitude of an article, processing of an article, measurement of an article, confirmation of an article, and the conveyor unit itself are moved. Self-moving means for receiving and receiving means for receiving signals,
    A conveyor unit characterized in that the self-moving means functions in accordance with a predetermined signal and self-travels to move to a desired position.
  18. 　隣接ユニット間通信手段を有し、当該隣接ユニット間通信手段によって隣接するコンベヤユニット間で通信が行われ、
    　コンベヤユニットは搬送ラインの中で一つの搬送ゾーンを構成するものであり、自己の搬送ゾーンを動作させるプログラムが格納された個別制御装置を有することを特徴とする請求項１７に記載のコンベヤユニット。     It has communication means between adjacent units, communication is performed between adjacent conveyor units by the communication means between adjacent units,
    The conveyor unit according to claim 17, wherein the conveyor unit constitutes one transport zone in the transport line, and has an individual control device in which a program for operating the own transport zone is stored.
  19. 　コンベヤユニットを特定するユニット特定情報を付与可能であることを特徴とする請求項１７又は１８に記載のコンベヤユニット。 19. The conveyor unit according to claim 17 or 18, wherein unit specifying information for specifying the conveyor unit can be given.
  20. 　電気的結合手段を有し、コンベヤユニットは他のコンベヤユニットの近傍に移動し、自動的に電気的結合手段で結合されることを特徴とする請求項１７乃至１９のいずれかに記載のコンベヤユニット。 20. The conveyor unit according to claim 17, further comprising an electrical coupling means, wherein the conveyor unit moves in the vicinity of another conveyor unit and is automatically coupled by the electrical coupling means. .
  21. 　機械的結合手段を有し、コンベヤユニットは他のコンベヤユニットの近傍に移動し、自動的に機械的結合手段で結合されることを特徴とする請求項１７乃至２０のいずれかに記載のコンベヤユニット。 21. The conveyor unit according to claim 17, further comprising a mechanical coupling means, wherein the conveyor unit moves in the vicinity of another conveyor unit and is automatically coupled by the mechanical coupling means. .
  22. 　高さ合わせ機能を備え、当該コンベヤユニットは他のコンベヤユニットの近傍に移動して、隣接するコンベヤユニット間の高さを自動的に合わすことができることを特徴とする請求項１７乃至２１のいずれかに記載のコンベヤユニット。 A height adjustment function is provided, and the conveyor unit can move to the vicinity of another conveyor unit to automatically adjust the height between adjacent conveyor units. Conveyor unit as described in
  23. 　測位システム機能を有していることを特徴とする請求項１７乃至２２のいずれかに記載のコンベヤユニット。 The conveyor unit according to any one of claims 17 to 22, which has a positioning system function.
  24. 　位置補正手段を有し、コンベヤユニットが移動して接続されるべき停止側のコンベヤユニットに近づく際、移動側のコンベヤユニットの位置を補正しつつ停止側のコンベヤユニットに近づいて行くことを特徴とする請求項１７乃至２３のいずれかに記載のコンベヤユニット。 It has position correction means, and when the conveyor unit moves and approaches the stop-side conveyor unit to be connected, the position of the transfer-side conveyor unit is corrected while approaching the stop-side conveyor unit. The conveyor unit according to any one of claims 17 to 23.
  25. 　自己の機能を発揮できる様に姿勢又は向きの少なくともいずれかを自動変更することが可能であることを特徴とする請求項１７乃至２４のいずれかに記載のコンベヤユニット。 The conveyor unit according to any one of claims 17 to 24, wherein at least one of a posture and an orientation can be automatically changed so as to exhibit its own function.
PCT/JP2017/030169 2016-08-24 2017-08-23 Conveyor device and conveyor unit WO2018038171A1 (en)

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