WO2021085090A1 - トラバーサ、ベースユニット及び移動ユニット - Google Patents

トラバーサ、ベースユニット及び移動ユニット Download PDF

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Publication number
WO2021085090A1
WO2021085090A1 PCT/JP2020/038343 JP2020038343W WO2021085090A1 WO 2021085090 A1 WO2021085090 A1 WO 2021085090A1 JP 2020038343 W JP2020038343 W JP 2020038343W WO 2021085090 A1 WO2021085090 A1 WO 2021085090A1
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WO
WIPO (PCT)
Prior art keywords
unit
traveling
roller
drive
transport
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2020/038343
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
文吾 松本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hirata Corp
Original Assignee
Hirata Corp
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 Hirata Corp filed Critical Hirata Corp
Priority to EP20883125.5A priority Critical patent/EP4052984A4/en
Priority to CN202080075823.4A priority patent/CN114641441B/zh
Priority to JP2021554276A priority patent/JP7284827B2/ja
Publication of WO2021085090A1 publication Critical patent/WO2021085090A1/ja
Priority to US17/729,349 priority patent/US12030722B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B65G13/06—Roller driving means
    • B65G13/07—Roller driving means having endless driving elements
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/02—Frames mounted on wheels for movement on rail tracks
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/04—Control devices, e.g. for safety, warning or fault-correcting detecting slip between driving element and load-carrier, e.g. for interrupting the drive
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/64—Switching conveyors
    • B65G47/641—Switching conveyors by a linear displacement of the switching conveyor
    • B65G47/642—Switching conveyors by a linear displacement of the switching conveyor in a horizontal plane
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B65G47/64—Switching conveyors
    • B65G47/641—Switching conveyors by a linear displacement of the switching conveyor
    • B65G47/643—Switching conveyors by a linear displacement of the switching conveyor in a vertical plane
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier

Definitions

  • the present invention relates to a traverser.
  • a traverser that has a conveyor on a moving trolley and transfers a work between two points is known (for example, Patent Document 1). This traverser moves between two points, the downstream end of the conveyor located at one end of the moving path on which the moving trolley moves, and the upstream end of the conveyor located at the other end of the moving path. Transfer.
  • the traverser can be safely stopped without ancillary equipment such as a safety fence or a sensor such as a light curtain when such interference occurs, especially when contact with a worker occurs. ing.
  • An object of the present invention is to provide a traverser that can be safely stopped without ancillary equipment at the time of overload action.
  • the drive mechanism is A traveling motor that supplies rotational driving force, A friction transmission mechanism that transmits the rotational driving force of the traveling motor to the first traveling roller by frictional force, and the like.
  • a traverser characterized by that is provided.
  • FIG. 1B is a cross-sectional view taken along the line CC.
  • FIG. 1A is a perspective view of a traverser 100 according to an embodiment of the present invention.
  • arrows X and Y indicate horizontal directions orthogonal to each other, and arrows Z indicate vertical directions with respect to the XY plane.
  • the traverser 100 includes a base unit 1, a moving unit 2, and a transport unit 3.
  • the moving unit 2 and the transport unit 3 form the traverser main body T.
  • the base unit 1 is extended in the Y direction and includes a traveling path (rail member 12) of the traverser main body T (moving unit 2).
  • the moving unit 2 is a traveling unit that reciprocates on the traveling path of the base unit 1, and is stopped at stop positions P1 and stop positions P2 located at both ends of the traveling path.
  • FIG. 1 shows a state in which the moving unit 2 is located at the stop position P1.
  • the transport unit 3 is mounted on the moving unit 2 via a plurality of columns 2a, and carries in and out the transport target object W.
  • the transfer unit 3 is a roller conveyor provided with transfer rollers 32 and 33.
  • the traverser 100 is used, for example, for transferring the object W to be transported between the conveyors 61 and 62, as shown in FIG. 1B.
  • the stop positions P1 and P2 of the moving unit 2 are provided according to the positions of the conveyors 61 and 62.
  • the conveyor unit (described later) of the conveyor unit 3 faces the carry-out end (downstream end) of one of the conveyors 61.
  • the transfer target W is transferred (transferred) from one of the conveyors 61 to the transfer unit 3.
  • the traverser main body T to which the transport object W is transferred moves along the traveling path and is stopped at the stop position P2.
  • the conveyor unit of the conveyor unit 3 faces the carry-in end (upstream end) of the other conveyor 62.
  • the transfer target W is transferred from the transfer unit 3 to the other conveyor 62.
  • the transport unit 3 transports the transport target object W in the X direction, but the transport target object W may be transported in the horizontal direction intersecting the X direction.
  • the traverser main body T (moving unit 2) may be provided with a turn unit for changing the direction of the object W to be transported, and the transport unit 3 may be rotatable around the Z axis.
  • the transport direction of the conveyor unit 3 can be changed according to the inclination of the conveyors 61 and 62 with respect to the traveling path in the transport direction.
  • the base unit 1 includes a box-shaped frame body 10 that opens upward, a cover 11 that covers the opening of the frame body 10 to form an upper surface of the base unit 1, and a pair of rail members 12 that are separated in the X direction. .. Further, the base unit 1 includes a passage member 16.
  • FIG. 2 is a plan view of the base unit 1 which is shown through the cover 11 in order to represent the internal space 10a of the frame body 10, and FIGS. 3 and 4 are enlarged views of 1A and 1B of FIG. is there.
  • the pair of rail members 12 are plate-shaped members, which are extended in the Y direction and fixed to the frame body 10 in parallel.
  • a pair of rail members 12, 12 form a traveling path.
  • the upper surface of the rail member 12 is exposed on the upper surface of the base unit 1, and the traveling rollers 22 and 23 (described later) of the moving unit 2 roll in contact with the rail members 12 and 12 to cause the moving unit 2 (moving unit 2 (described later)).
  • the traverser body T) runs on the base unit 1.
  • a gap 14 extending in the Y direction is formed between the cover 11 and the rail member 12 along the rail member 12, and the internal space 10a surrounded by the cover 11 and the frame 10 through the gap 14 and the base. It communicates with the external space above the unit 1.
  • the passage member 16 is an inclined plate arranged on both sides of the frame body 10 in the X direction.
  • the passage member 16 constitutes a stepping stone when the operator crosses the base unit 1.
  • the passage member 16 defines the passage in the base unit 1 when the operator crosses the base unit 1.
  • FIG. 15 is a sectional view taken along line CC of FIG. 1B.
  • the passage member 16 extends from the installation surface (floor surface of the factory) G on which the base unit 1 is installed to the upper surface of the rail member 12.
  • the passage member 16 is made of, for example, a steel plate, and includes an inclined portion 16a and a horizontal portion 16b. By providing the inclined portion 16a, it is possible to eliminate the step between the frame body 10 and the installation surface G and form a smooth slope.
  • the horizontal portion 16b is fixed to the constituent member 17 of the frame body 10.
  • the horizontal portion 16b and the constituent member 17 may be fixed by a screwing structure or a structure that engages an engaging portion (for example, a bent portion or an unevenness) provided in each.
  • the internal space 10a defined by the frame body 10 also functions as a storage space for the cable 13 connected to the moving unit 2.
  • the internal space 10a is divided into two by a partition member 18c.
  • the cable 13 includes at least a power cable used to supply electric power from the external electric circuit to the traveling motor 271 of the mobile unit 2. Further, the cable 13 may include a communication cable used for communication between a higher-level device (not shown) and the control circuit 4.
  • the cover 11 is a thin plate material that covers the internal space (accommodation space) 10a, and the cover 11 prevents dust and the like from entering the internal space 10a.
  • the cable 13 is supported by a cable protection guide device (cable bear (registered trademark)) 17.
  • the cables protection guide device 17 is provided in the frame body 10 in a state where two cables are laid on their side.
  • the cable 13 includes the power cable and the communication cable
  • the power cable is supported by one cable protection guide device 17, and the communication cable is supported by the other cable protection guide device 17. May be good.
  • one cable protection guide device 17 is provided.
  • the cable 13 includes a power cable and a communication cable
  • these cables may be supported by one cable protection guide device 17.
  • Each cable protection guide device 17 is arranged so as to meander in the internal space 10a, and its movement is guided by a plurality of guides 18a provided on the frame body 10, a partition member 18c, and one roller 18b.
  • the plurality of guides 18a include a linear member 18a-1 and an arcuate member 18a-2 around the roller 18b.
  • the partition member 18c functions as a linear guide.
  • One end 17a of the cable protection guide device 17 is connected to the moving unit 2 via a connector (not shown) that passes through the gap 14, and the other end 17b is fixed to the frame body 10.
  • One end 13a of the cable 13 extends to the outside of the frame 10 via the gap 14.
  • the cable 13 When the cable 13 is a power cable, one end 13a thereof is connected to the power supply unit (not shown) of the mobile unit 2.
  • the power supply unit supplies electric power to the traveling motor 271 of the drive unit 25, the transport motor 371 of the drive unit 35, and the like.
  • the other end 13b is connected to an external electric circuit (for example, a power supply device) (not shown) arranged outside the base unit 1.
  • the cable 13 When the cable 13 is a communication cable, one end 13a thereof is connected to the control circuit 4 of the mobile unit 2 via the gap 14.
  • the control circuit 4 controls the traveling motor 271 of the drive unit 25 and the transport motor 371 of the drive unit 35.
  • the other end 13b is connected to a higher-level device (for example, PLC) (for example, PLC) arranged outside the base unit 1.
  • PLC higher-level device
  • Stop members 15 that come into contact with the moving unit 2 are provided at both ends of the rail members 12 and 12 in the frame body 10. Each stop member 15 is fixed to the frame body 10 via a support member 16. In the present embodiment, four stop members 15 are provided, of which two stop members 15 and 15 shown in FIG. 3 stop the moving unit 2 (traverser main body T) at the stop position P1 and are shown in FIG. The remaining two stop members 15 and 15 shown in the figure stop the moving unit 2 at the stop position P2.
  • each stop member 15 is a shock absorber that cushions the impact when it comes into contact with the moving unit 2, and includes a rod 15a and a cylinder 15b that accommodates the rod 15a so as to be able to move forward and backward.
  • the stop member 15 is arranged near both ends of the rail members 12 and 12 with the rods 15a facing each other in the Y direction.
  • the tip of the rod 15a constitutes a contact portion that comes into contact with the moving unit 2 and is located near the lower side of the gap 14.
  • the cylinder 15b contains, for example, a spring that urges the rod 15a in the advancing direction, a piston provided at the end of the rod 15a, and a liquid that resists the movement of the piston.
  • a solid member may be used as the stop member 15.
  • the durability of the traverser 100 can be improved by using a shock absorber having a movable portion as in the present embodiment.
  • FIG. 5 is a perspective view of the moving unit 2 as viewed from the bottom surface side thereof.
  • the moving unit 2 is provided so as to connect the two roller units 20 arranged in parallel with each other in the X direction so as to connect the two roller units 20, and is the driving source of the moving unit 2. And have.
  • the two roller units 20 are connected by a plurality of connecting members 2b, whereby the roller units 20 and 20 are maintained in a state of being separated in parallel.
  • Each roller unit 20 has a roller row in which a traveling roller 22 which is a driving roller and a plurality of traveling rollers 23 which are driven rollers are arranged along a moving direction (Y direction).
  • the traveling rollers 22 and 23 roll on the rail member 12, whereby the moving unit 2 travels in the Y direction.
  • Each roller unit 20 includes traveling rollers 22 and 23, and a support (frame) 21 that supports a mechanism described later.
  • the support 21 constitutes the bottom of the roller unit 20, and includes a base plate 21a extending in the Y direction and support plates 21c provided at the front and rear ends of the base plate 21a in the Y direction, respectively.
  • the support plate 21c includes a stopper contact portion 29.
  • the stopper contact portion 29 is a portion that contacts the stop member 15 at the stop position P1 or P2.
  • the stopper contact portion 29 includes a support portion 29a extending downward in the Z direction from the lower surface of the support plate 21c, and a contact portion main body 29b extending from the lower end portion of the support portion 29a toward the center side of the roller units 20 and 20. It has an L-shape. As the moving unit 2 travels, the support portion 29a moves along the gap 14, and the contact portion main body 29b comes into contact with the rod 15a of the stop member 15. Further, a rail contact portion 28, which will be described later, is also supported on the lower surface of the support plate 21c (see FIG. 6).
  • FIG. 6 is a plan view of the moving unit 2 with the exterior portion removed.
  • the drive unit 25 includes a drive mechanism 27 supported by a support (frame; see FIG. 5, not shown in FIG. 6) 26.
  • the drive mechanism 27 is a mechanism that applies a rotational driving force to the traveling rollers 22 and 23, and friction between the traveling motor 271 that supplies the rotational driving force, the belt transmission mechanism 272, the drive shaft 273, and the drive wheels 274. Includes transmission mechanism FM.
  • FIG. 7 is a vertical cross-sectional view of the moving unit 2 in the vicinity of the drive shaft 273 (cross-sectional view taken along the line BB in FIG. 6).
  • FIG. 8 is a partial perspective view of the drive mechanism 27.
  • the traveling motor 271 is, for example, a DC motor, which includes a control board (not shown) that controls the rotation direction and speed of the rotating shaft, and the rotating shaft is mounted on the support 26 above and parallel to the drive shaft 273. It is supported.
  • the control board includes, for example, a processor typified by a CPU, a storage device such as a RAM or ROM, an input / output interface that relays an external device and the processor, and a communication interface that communicates with a higher-level controller such as a PLC.
  • the control board is arranged inside, for example, the housing of the traveling motor 271, and is connected to a power supply unit that supplies electric power to the traveling motor 271 and the like.
  • control board outputs a control signal indicating the rotation direction of the rotation shaft and a PWM (pulse width modulation) signal indicating the rotation speed to control the rotation of the rotation shaft of the traveling motor 271.
  • PWM pulse width modulation
  • a rotary encoder 41 is attached to the rotating shaft of the traveling motor 271, and the amount of rotation of the rotating shaft detected by the rotary encoder 41 is input to the control board.
  • the control board stops the output of the control signals (CW, CCW signals) instructing the rotation of the traveling motor 271 when the output signal of the rotary encoder 41 does not change for a certain period of time. As a result, the drive of the traveling motor 271 is stopped.
  • control board of the traveling motor 271 stops driving the rotating shaft of the traveling motor 271 if the rotation of the rotating shaft of the traveling motor 271 is not detected for a certain period of time.
  • the rotary encoder is used to detect that the rotation of the rotation shaft of the traveling motor 271 is physically stopped, but the current value of the control signal (CW, CCW signal) instructing the rotation is used. It may be used to detect that the rotation of the rotation shaft of the traveling motor 271 is physically stopped.
  • the current value of the control signal rises when the rotation of the rotating shaft is hindered. Therefore, a load is applied to the rotating shaft of the rotating traveling motor 271, and the current value when the rotation of the rotating shaft physically stops is used as a threshold value, and the current value of the control signal (CW, CCW signal) is constant. By detecting that the threshold value has been exceeded for a continuous period of time, it is possible to detect that the rotation axis of the traveling motor 271 has physically stopped.
  • the traveling motor 271 when a general-purpose motor is used as the traveling motor 271, even if the rotation of the drive wheels 242 and 274 and the traveling of the drive transmission member 246 are hindered and the rotation shaft of the motor physically stops, the motor Keep spinning. As a result, the motor continues to forcibly rotate the rotating shaft that cannot rotate physically, and in the worst case, the motor may break down or be damaged.
  • the traveling motor 271 drives the rotating shaft of the traveling motor 271 if the rotation of the rotating shaft of the traveling motor 271 is not detected for a certain period of time. "Stops". As a result, even if the rotation of the rotating shaft of the traveling motor 271 is physically stopped, this is detected and the driving of the rotating shaft of the traveling motor 271 is stopped.
  • the traveling motor 271 when the rotating shaft of the traveling motor 271 is physically stopped, the driving of the rotating shaft of the traveling motor 271 is stopped by detecting this, so that the traveling motor 271 is forced to rotate the rotating shaft that cannot be rotated. There is no need to keep turning. As a result, the driving of the rotating shaft of the traveling motor 271 is safely stopped without causing failure or damage of the traveling motor 271 due to foreign matter.
  • the belt transmission mechanism 272 transmits the rotational driving force of the traveling motor 271 to the drive shaft 273 to rotate the drive shaft 273.
  • the drive shaft 273 is a member extending in the X direction, and in the case of the present embodiment, a plurality of shafts are connected via a shaft joint to form one shaft as a whole.
  • the support 21 of each roller unit 20 includes a pair of support plates 21b that rotatably support each rotation center axis of the traveling rollers 22 and 23.
  • the pair of support plates 21b are erected on the base plate 21a in parallel at arbitrary intervals in the X direction, and traveling rollers 22 and 23 are arranged between the support plates 21b and 21b.
  • the drive shaft 273 is rotatably supported by a pair of support plates 21b located apart from each other in the X direction. Traveling rollers 22 are provided between the pair of support plates 21b, and each traveling roller 22 is mounted on the drive shaft 273 via the friction transmission mechanism FM.
  • the friction transmission mechanism FM is a mechanism that transmits the rotational driving force of the traveling motor 271 to the traveling roller 22 by the frictional force, and in the case of the present embodiment, the friction transmission member 275 is provided.
  • FIG. 9 is a vertical cross-sectional view of the traveling roller 22.
  • the friction transmission member 275 is provided on the peripheral surface of the drive shaft 273, and is a pair of ring members for mounting the traveling roller 22 on the drive shaft 273.
  • the friction transmission member 275 is composed of a pair of flanged bushes 275a and 275b fitted in the center hole of the traveling roller 22.
  • a bush 276 is provided on the peripheral surface of the drive shaft 273 at the contact portion between the drive shaft 273 and the friction transmission member 275. For example, the drive shaft 273 is fitted into the hole of the bush 276.
  • the portion of the bush 276 in the drive shaft 273 is inserted into the central hole 275h of the friction transmission member 275, and the bush 276 is positioned in the hole 275h of the friction transmission member 275.
  • the friction transmission member 275 and the bush 276 are not fixed, and the rotational driving force is transmitted from the drive shaft 273 to the friction transmission member 275 by friction transmission. Therefore, when an excessive load that resists the rotation of the traveling roller 22 acts on the traveling roller 22, slipping occurs between the bush 276 provided on the drive shaft 273 and the friction transmission member 275, and the drive shaft 273 rotates. However, the traveling roller 22 stops rotating.
  • drive wheels 274 are provided at both ends of the drive shaft 273, respectively.
  • Each drive wheel 274 is fixed to the drive shaft 273 and rotates integrally with the drive shaft 273.
  • the rotational driving force of the drive wheels 274 is transmitted to the traveling roller 23 via the traveling transmission mechanism 24 provided in the roller unit 20.
  • the traveling transmission mechanism 24 includes a drive shaft 241 of each traveling roller 23, a drive wheel 242 provided at an outer end of each drive shaft 241 and a driving force transmission member 246.
  • the drive shaft 241 is provided parallel to the drive shaft 273 and is rotatably supported by a pair of support plates 21b.
  • the drive wheel 242 is provided at one end of the drive shaft 241 (the outer end in the width direction of the moving unit 2).
  • one drive wheel 274 provided on the drive shaft 273 and a plurality of drive wheels 242 provided on each drive shaft 241 are arranged in a row along the Y direction, and these drive wheels
  • An endless driving force transmission member 246 is wound around 274 and 242. Therefore, the drive wheels 274 rotate with the rotation of the drive shaft 273, and each drive wheel 242 rotates with the rotation of the drive wheels 274.
  • the driving force transmitting member 246 is a chain
  • the driving wheels 274 and 242 are sprockets that mesh with the chain, and these constitute a chain transmission mechanism.
  • a belt transmission mechanism may be adopted instead of the chain transmission mechanism, or a gear mechanism in which the drive wheels 274 and 242 and the drive force transmission member 246 are each composed of gears may be used.
  • FIG. 10 is a vertical cross-sectional view of the vicinity of the traveling roller 23.
  • the traveling roller 23 is integrally formed with the drive shaft 241, and the drive shaft 241 is supported by a pair of support plates 21b via ball bearings.
  • a transmitted portion 249 and a friction transmitting member 244 are provided on the peripheral surface of the drive shaft 241.
  • the transmitted portion 249 is a disk-shaped member provided in the middle portion of the drive shaft 241 and extending radially outward of the drive shaft 241. It is fixed to the drive shaft 241 and rotates integrally with the drive shaft 241.
  • the transmitted member 249 and the drive shaft 241 may be one member.
  • the friction transmission member 244 is provided on the peripheral surface of the drive shaft 241 and is interposed between the drive wheel 242 and the drive shaft 241.
  • the friction transmission member 244 is a pair of flanged bushes, and each flanged bush is mounted from both sides of the drive wheel 242 so as to cover both sides of the drive wheel 242 and the inner peripheral surface of the drive wheel 242.
  • the friction transmission member 244 forms a flange portion 244a in which each end portion in the axial direction of the drive shaft 241 projects in the radial direction.
  • a drive wheel 242 is mounted between the flange portions 244a, and the side surface of the drive wheel 242 is in contact with the flange portion 244a.
  • one flange portion 244a is sandwiched between one side surface of the drive wheel 242 (the side surface on the traveling roller 23 side) and the transmitted portion 249.
  • the friction transmission member 244 and the drive shaft 241 are not fixed, and the rotational driving force is transmitted from the drive wheel 242 to the drive shaft 241 on one side surface of the drive wheel 242 (for traveling) via the flange portion 244a. This is due to friction transmission between the roller 23 side (the left side in FIG. 10) and the transmitted portion 249.
  • An urging member 245 is provided to urge the holding force of the flange portion 244a between one side surface of the drive wheel 242 (the side surface on the traveling roller 23 side) and the transmitted portion 249.
  • the urging member 245 is a coil spring, but may be another elastic member such as rubber.
  • the drive shaft 241 is formed with a through hole 241a concentric with the drive shaft 241 by penetrating the drive shaft 241 in the axial direction.
  • the through hole 241a is a stepped hole having a small diameter on the drive wheel 242 side and a large diameter on the opposite side (traveling roller 23 side).
  • a rod 247 is inserted through the through hole 241a.
  • a pressing member 248 is fixed to one end of the rod 247 (the end on the drive wheel 242 side), and a stopper 247a is formed at the other end.
  • the urging member 245 is interposed between the wall surface of the step portion of the through hole 241a and the stopper portion 247a.
  • the pressing member 248 is a disk-shaped member in contact with the flange portion 244a on the other side (the side that does not come into contact with the transmitted member 249) of the friction transmitting member 244.
  • the rod 247 and the pressing member 248 are urged to the side of the traveling roller 23, whereby one side surface of the drive wheel 242 (the side surface on the traveling roller 23 side) and the transmitted portion 249 A holding force is generated between the two, which presses the flange portion 244a on the side in contact with the transmitted member 249 (on the left side in FIG. 10).
  • the rotational driving force of the drive wheels 242 is frictionally transmitted to the drive shaft 241 via the flange portion 244a.
  • the urging member 245 is built in the drive shaft 241.
  • other structures such as a structure in which the urging member 245 is arranged on the peripheral surface of the drive shaft 241 can be adopted, and one side surface of the drive wheel 242 ( It suffices if the holding force can be urged between the traveling roller 23 side surface) and the transmitted portion 249.
  • FIG. 11 is a cross-sectional view taken along the line AA of FIG. 1A, showing the arrangement of the rail contact portion 28 and the surrounding configuration in a state where the moving unit 2 is mounted on the base unit 1.
  • the rail contact portion 28 is a roller arranged below the support plate 21c.
  • the support portion 21d is a shaft member extending in the vertical direction (Z direction), the upper end portion thereof is fixed to the support plate 21c, and the rail contact portion 28 is rotatably supported by the lower end portion thereof.
  • the support portion 21d extends to the lower side of the cover 11 through the gap 14, and the rail contact portion 28 provided at the lower end of the support portion 21d is provided in parallel with the side surface of the rail member 12 (the left side surface in FIG. 11).
  • the inner side surfaces of the rail members 12 and 12) are brought into contact with each other.
  • the four rail contact portions 28 prevent the moving unit 2 from coming off the rail members 12 and 12 when the moving unit 2 moves on the rail member 12.
  • FIG. 12 is a plan view of the transport unit 3 with the exterior portion removed.
  • the transport unit 3 is provided so as to connect the two roller units 30 arranged in parallel with each other in the Y direction so as to connect the two roller units 30, and is a drive unit 35 which is a drive source of the transport unit 3. And have.
  • the two roller units 30 are also connected by a plurality of connecting members 3a, whereby the roller units 30 and 30 are maintained in a state of being separated in parallel.
  • the roller unit 30 and the drive unit 35 have the same structure as the roller unit 20 and the drive unit 25 in terms of the drive mechanism, although the number of rollers is different.
  • the traveling mechanism of the moving unit 2 and the transport mechanism of the transport unit 3 have the same structure, so that both can be configured by using common parts. As a result, the number of parts constituting the traverser main body T can be reduced, the cost can be reduced, and the parts management becomes easy.
  • Each roller unit 30 has a roller row in which a transport roller 32, which is a drive roller, and a plurality of transport rollers 33, which are driven rollers, are arranged in a row (X direction). Due to the rotation of the transport rollers 32 and 33, the transport target W on these rollers is transported in the X direction.
  • the transport roller 32 can use the same roller as the traveling roller 22, and the transport roller 33 can use the same roller as the traveling roller 23.
  • Each roller unit 30 includes transport rollers 22 and 23, and a support (frame) 31 that supports a mechanism described later.
  • the support 31 has the same configuration as the support 21 of the moving unit 2, constitutes the bottom of the roller unit 30, and includes a base plate 31a extending in the X direction and a pair of support plates 31b.
  • the support 31 of the transport unit 3 does not have a configuration corresponding to the support plate 21c. Further, the transport unit 3 does not have a configuration corresponding to the contact portions 28 and 29 of the moving unit 2.
  • the drive unit 35 includes a drive mechanism 37 supported by a support (frame) 36.
  • the drive mechanism 37 is a mechanism for applying a rotational driving force to the conveying roller 32, and includes a conveying motor 371 for supplying the rotational driving force, a belt transmission mechanism 372, a drive shaft 373, and a drive wheel 374.
  • the drive mechanism 37 has the same configuration as the drive mechanism 27, and the same parts can be shared.
  • the transport motor 371 is, for example, a DC motor, which includes a control board (not shown) that controls the rotation direction and speed of the rotation shaft, and the rotation shaft is on the support 36 above and in parallel with the drive shaft 373. It is supported.
  • the control board has the same configuration as the control board of the drive unit 25, and the transfer motor 371 is stopped when the rotation of the transfer motor 371 is stopped for a certain period of time.
  • the belt transmission mechanism 372 transmits the rotational driving force of the transport motor 371 to the drive shaft 373 to rotate the drive shaft 373.
  • the drive shaft 373 is a member extending in the Y direction, and in the case of the present embodiment, a plurality of shafts are connected via a shaft joint to form one shaft as a whole.
  • the support 31 of each roller unit 30 includes a pair of support plates 21b that rotatably support each rotation center axis of the transfer rollers 22 and 23.
  • the pair of support plates 21b are erected on the base plate 31a at arbitrary intervals in the Y direction and in parallel, and the transport rollers 32 and 33 are arranged between the support plates 31b and 31b.
  • the drive shaft 373 is rotatably supported by a pair of support plates 21b located apart from each other in the Y direction.
  • Transfer rollers 32 are provided between the pair of support plates 21b, and each transfer roller 32 is attached to the drive shaft 373 via a friction transmission member (not shown).
  • the transport roller 32 is mounted on the drive shaft 373 via a friction transmission member corresponding to the friction transmission member 275 and a bush (both not shown). Therefore, when an excessive load that resists rotation acts on the transport roller 32, slipping occurs between the bush provided on the drive shaft 373 and the friction transmission member, and the drive shaft 373 continues to rotate. However, the transport roller 32 stops rotating.
  • Drive wheels 374 are provided at both ends of the drive shaft 373. Each drive wheel 374 is fixed to the drive shaft 373 and rotates integrally with the drive shaft 373. The rotational driving force of the drive wheels 374 is transmitted to the transport roller 33 via the transport transmission mechanism 34 provided in the roller unit 30.
  • the transport transmission mechanism 34 is the same mechanism as the travel transmission mechanism 24 except for the number of rollers, and transmits the rotational driving force of the drive wheels 374 to the drive wheels 342 of each transport roller 33 via the drive force transmission member 346. It is a mechanism.
  • the mechanism of each transport roller 33 is the same as the mechanism of each traveling roller 23 illustrated in FIG. Parts can be shared here as well.
  • FIG. 13 is a block diagram of the control system of the mobile unit 2.
  • the moving unit 2 includes a control circuit 4 that controls a traveling motor 271.
  • a rotary encoder 41 is attached to the drive shaft of the traveling motor 271, and the amount of rotation of the drive shaft detected by the rotary encoder 41 is input to the control circuit 4.
  • the traverser 100 is provided with a position sensor 42 that detects the position of the moving unit 2.
  • the position sensor 42 of the present embodiment is provided at each of the two stop positions P1 and P2, one position sensor 42 determines whether or not the moving unit 2 exists at the stop position P1, and the other position sensor 42 determines whether or not the moving unit 2 exists at the stopping position P1. It is detected whether or not 2 is present at the stop position P2.
  • the position sensor 42 is, for example, an optical sensor such as a mechanical sensor that is turned on by contact with the moving unit 2 or a photointerruptor that optically detects the presence of the moving unit 2.
  • the control circuit 4 includes, for example, a processor typified by a CPU, a storage device such as a RAM or ROM, an input / output interface that relays an external device and the processor, a communication interface that communicates with a higher-level controller, and a drive of a traveling motor 271. It is a microcomputer equipped with a circuit and the like.
  • the control circuit 4 can be arranged, for example, inside the housing of the drive unit 25, and the cable 13 routed through the gap 14 is connected to the control circuit 4 in order to supply electric power to the traveling motor 271 and the like. Will be done.
  • the control circuit 4 may control the transfer unit 3, or the control circuit provided in the transfer unit 3 may control the transfer unit 3. Similar to the traveling motor 271, the transport motor 371 may be provided with a rotary encoder so that the amount of rotation of the drive shaft of the transport motor 371 can be detected.
  • the control circuit provided in the transport unit 3 may have the same configuration as the control circuit 4, and may be configured to be communicable with the control circuit 4.
  • the control circuit 4 moves the moving unit 2 from the stop position P1 to the stop position P2 and from the stop position P2 to the stop position P1 according to the instruction of the upper controller. Specifically, the control circuit 4 controls the rotation direction of the traveling motor 271, the start and stop of rotation, and the rotation speed.
  • the traverser main body T is moved from the stop position P1 to the stop position P2.
  • the stopper contact portion 29 mechanically and physically contacts the stop member 15.
  • the movement of the traverser main body T is hindered, and the traverser main body T stops at the stop position P2.
  • the traveling motor 271, the driving shaft 273, the driving wheels 274, the driving force transmission member 246, and the driving wheels 242 continue to rotate, but the traveling rollers 22 and 23 stop rotating.
  • the transfer object W is transferred from the conveyor 62 on the carry-out side to the transfer unit 3.
  • the stopper contact portion 29 mechanically and physically contacts the stop member 15. As a result, the movement of the traverser main body T is hindered, and the traverser main body T stops at the stop position P1.
  • the traveling motor 271, the driving shaft 273, the driving wheels 274, the driving force transmission member 246, and the driving wheels 242 continue to rotate, but the traveling rollers 22 and 23 stop rotating.
  • the transfer object W is transferred from the transfer unit 3 to the conveyor 61 on the carry-in side.
  • the transport object W can be transported between the conveyors 61 and 62 by the traverser 100.
  • the rotational driving force of the traveling motor 271 is transmitted by friction transmission.
  • the friction transmission member 275 and the bush 276 Slip occurs between the friction transmission member 244 and the traveling roller 23.
  • the traveling motor 271 continues to rotate, but the traveling rollers 22 and 23 stop rotating. That is, the traveling rollers 22 and 23 have an accumulator function (also referred to as a free flow function).
  • the traveling motor 271 is kept rotating without separately providing an inverter control of the traveling motor 271 or a torque limiter or the like on the drive shaft of the traveling motor 271.
  • the main body T can be stopped.
  • the traverser main body is attached to the traveling rollers 22 and 23 between the friction transmitting member 275 and the bush 276 and between the friction transmitting member 244 and the traveling roller 23.
  • a force that tries to rotate the T in the moving direction (forward direction) acts.
  • the traveling rollers 22 and 23 have stopped apparently rotating, but the force for advancing the traveling rollers 22 and 23 continues to act. Therefore, the traveling rollers 22 and 23 do not rotate in the direction opposite to the moving direction (reverse direction). That is, since the traveling rollers 22 and 23 (traverser main body T) are anti-back rollers, they do not retreat. Therefore, the traverser main body T continues to stop at the stop position P1 (or P2) in contact with the stop member 15, and the accurate positioning state at the stop position P1 (or P2) is maintained.
  • a positioning device for the traverser main body has been prepared, and the traverser main body T has been positioned at the stop position.
  • the positioning device requires a mechanism for fixing the relative positional relationship between the traverser main body and the conveyor, such as a butt mechanism and a clamp mechanism, resulting in a large-scale device configuration.
  • the traverser main body T is placed at an accurate position only by the configuration of the stop member 15 and the stopper contact portion 29 by the traveling rollers 22 and 23 which are anti-back rollers. Since positioning is possible, the positioning device, which has been indispensable in the past, becomes unnecessary.
  • the traveling rollers 22 and 23 keep pushing the shock absorber by the stopper contact portion 29 against the push-back by the spring or the like of the shock absorber. Therefore, the traverser main body T is stopped while the stopper contact portion 29 is in contact with the shock absorber. Therefore, the traverser main body T can be accurately positioned at the stop position P1 (or P2) only by the shock absorber.
  • the traveling motor 271 is stopped.
  • the traverser main body T Since the rotational driving force is transmitted to the traveling rollers 22 and 23 by friction transmission, the traverser main body T comes into contact with an operator or the like while moving from the stop position P1 to P2 or from the stop position P2 to P1.
  • an overload exceeding the friction transmission force acts, the transmission of the rotational driving force to the traveling rollers 22 and 23 is cut off, and the rotation of the traveling rollers 22 and 23 is stopped. Therefore, in the traverser 100 of the present embodiment, if an overload exceeding the friction transmission force acts when the traverser main body T is moved, it is not necessary to provide ancillary equipment such as a safety fence, a light curtain, and an area sensor. The traverser main body T can be stopped safely and instantly.
  • the cable 13 is used as the power supply equipment for the mobile unit 2, and the power is supplied by wire from the power transmission side unit (power transmission unit) to the power reception side unit (power reception unit) in a non-contact manner (wirelessly). It may be a wireless power supply to be supplied.
  • FIG. 14 is a diagram showing an example of a traverser 100 provided with a wireless power feeding device 5.
  • the wireless power supply device 5 includes a power transmission unit 51 provided in the base unit 1, a power reception unit 52 provided in the mobile unit 2, and a power storage device 53 such as a battery and a capacitor.
  • the power transmission unit 51 is connected to an external electric circuit (for example, a power supply device) (not shown), and when the traverser main body T stops at the stop position P1 and the stop position P2, the power transmission unit 51 and the power receiving unit 52 are close to each other and face each other. Arranged so that power can be supplied.
  • an external electric circuit for example, a power supply device
  • the power receiving unit 52 is installed on the side surface of the mobile unit 2 and is electrically connected to the power storage device 53. This electrical connection may be either wired or wireless. Further, the power storage device 53 may be provided separately from the power receiving unit 52, but it goes without saying that the power storage device 53 may be provided integrally.
  • the power transmission unit 51 provided at the stop position P1 (or P2) powers the power receiving unit 52 by wireless power supply. To supply.
  • the power receiving unit 52 stores the electric power supplied from the power transmission unit 51 in the power storage device 53.
  • the control circuit 4 drives the traveling motor 271 using the electric power stored in the power storage device 53.
  • the configuration related to the cable 13 is not required, the wiring and routing of the cable and the like are not required, and the device configuration is simplified.
  • the arrangement of the power receiving unit 52, the power transmission unit 51, and the power storage device 53 in FIG. 14 is an example, and various arrangements can be adopted.
  • the power transmission unit 51 may be housed in the internal space 10a of the base unit 1.
  • the electromagnetic induction method is suitable from the viewpoint of transfer efficiency, transmission distance, and the like.
  • the magnetic field resonance method, the electric field coupling method, the radio wave receiving method, etc. which are commonly used as wireless power feeding methods, can all be applied.
  • the control circuit 4 may be configured to be arranged outside the mobile unit 2.
  • FIG. 16 is a perspective view of a traverser 100 showing an example thereof
  • FIG. 17 is a block diagram of a control system in the example of FIG.
  • a communication unit 4A is provided as a control unit instead of the control circuit 4.
  • the communication unit 4A includes a display unit 43, and the display unit 43 is arranged so that the operator can see it from the outside of the mobile unit 2.
  • the communication unit 4A is fixed to the support portion 30a of the outer wall portion of the transport unit 3, and is exposed to the outside as a whole.
  • the fixed place of the communication unit 4A may be the outer wall portion of the mobile unit 2.
  • the communication unit 4A includes connectors 44 to 46.
  • a communication cable that connects the communication unit 4A and the host device 200 is connected to the connector 44.
  • a power cable for connecting the communication unit 4A and an external power source is connected to the connector 45.
  • Controlled devices such as a traveling motor 271 and a rotary encoder 41 are connected to the connector 46.
  • the communication unit 4A includes, for example, a processor typified by a CPU, a storage device such as RAM or ROM, an input / output interface that relays between the controlled device and the processor, and a communication interface that communicates with a higher-level controller.
  • the communication unit 4A may communicate with the host device 200 by wireless communication.
  • the communication unit 4A receives an instruction from the host device 200 and controls the drive of the traveling motor 271.
  • the communication unit 4A may also control the transport unit 3.
  • the detection signal of the position sensor 42 is input to the host device 200 via the communication unit 4A.
  • the host device 200 transmits an operation stop instruction or the like to the communication unit 4A based on the detection signal of the position sensor 42.
  • the communication unit 4A controls the drive of the traveling motor 271 based on the instruction from the host device 200 and the detection result of the rotary encoder 41.
  • the display unit 43 displays a display related to the control of the traveling motor 271.
  • the display unit 43 is composed of a plurality of light emitting elements. Each light emitting element is provided for each connector of the communication unit 4A, for example, and lights up while a control signal is transmitted from the corresponding connector to the device to be controlled or the host device. Further, each light emitting element is associated with each type of control signal from the host device 200, and lights up while receiving the corresponding control command from the host device 200. The operator can check the display unit of the display unit 43 to confirm whether the operation of the moving unit 2 or the like is normally performed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Intermediate Stations On Conveyors (AREA)
PCT/JP2020/038343 2019-11-01 2020-10-09 トラバーサ、ベースユニット及び移動ユニット Ceased WO2021085090A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP20883125.5A EP4052984A4 (en) 2019-11-01 2020-10-09 TRANSFER, BASE UNIT AND MOBILE UNIT
CN202080075823.4A CN114641441B (zh) 2019-11-01 2020-10-09 移动台、基座单元以及移动单元
JP2021554276A JP7284827B2 (ja) 2019-11-01 2020-10-09 トラバーサ、ベースユニット及び移動ユニット
US17/729,349 US12030722B2 (en) 2019-11-01 2022-04-26 Traverser, base unit, and moving unit

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JP2019200206 2019-11-01
JP2019-200206 2019-11-01

Related Child Applications (1)

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US17/729,349 Continuation US12030722B2 (en) 2019-11-01 2022-04-26 Traverser, base unit, and moving unit

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WO2021085090A1 true WO2021085090A1 (ja) 2021-05-06

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JP7284827B2 (ja) 2023-05-31
CN114641441B (zh) 2024-04-09
EP4052984A1 (en) 2022-09-07
US12030722B2 (en) 2024-07-09
US20220250847A1 (en) 2022-08-11
EP4052984A4 (en) 2023-03-29
JPWO2021085090A1 (https=) 2021-05-06

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