WO2021124429A1 - 搬送装置 - Google Patents

搬送装置 Download PDF

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Publication number
WO2021124429A1
WO2021124429A1 PCT/JP2019/049309 JP2019049309W WO2021124429A1 WO 2021124429 A1 WO2021124429 A1 WO 2021124429A1 JP 2019049309 W JP2019049309 W JP 2019049309W WO 2021124429 A1 WO2021124429 A1 WO 2021124429A1
Authority
WO
WIPO (PCT)
Prior art keywords
transport
slider
guide rails
unit
vibration
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/JP2019/049309
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
寿幸 楠木
淳一 露木
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.)
Yamaha Motor Co Ltd
Original Assignee
Yamaha Motor Co Ltd
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 Yamaha Motor Co Ltd filed Critical Yamaha Motor Co Ltd
Priority to DE112019007860.7T priority Critical patent/DE112019007860B4/de
Priority to JP2021565189A priority patent/JP7286803B2/ja
Priority to CN201980103002.4A priority patent/CN114829274B/zh
Priority to US17/782,486 priority patent/US11738954B2/en
Priority to PCT/JP2019/049309 priority patent/WO2021124429A1/ja
Publication of WO2021124429A1 publication Critical patent/WO2021124429A1/ja
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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors

Definitions

  • the present invention relates to a transport device, and more particularly to a transport device including a transport unit including a plurality of guide rails to which a slider can be connected.
  • a transfer device including a transfer unit including a plurality of guide rails to which a slider can be connected is known.
  • Such a transport device is disclosed in, for example, Japanese Patent Application Laid-Open No. 2019-626614.
  • the above-mentioned Japanese Patent Application Laid-Open No. 2019-62614 discloses a transport device including a transport carriage (slider) and a transport unit for transporting the transport carriage.
  • the transport unit includes a linear motor and a plurality of guide rails to which the transport carriage can connect.
  • the connecting position between the guide rails is accurately positioned by correcting the position of the connecting guide rail based on the position information of the guide rail.
  • the shape of the connecting portion of the guide rail changes due to the bimetal effect with the mount on which the transport carriage is installed due to the change in the installation environment temperature, the change over time, and the like. Then, it becomes difficult to accurately align the connecting positions of the plurality of guide rails. In this case, there is a problem that an impact is generated on the transport carriage at the connecting positions of the plurality of guide rails, and there is a high possibility that the transport carriage and the guide rails are damaged.
  • the present invention has been made to solve the above-mentioned problems, and one object of the present invention is that the guide rails and the guide rails and the sliders are impacted at the connecting positions of the plurality of guide rails. It is an object of the present invention to provide a transport device capable of suppressing the occurrence of damage to the slider.
  • the transport device includes a slider, a linear motor, and a plurality of guide rails to which the slider can be connected, and a transport unit for transporting the slider and a plurality of guides. It is provided with a control unit that acquires a state of connection between guide rails of a slider based on vibration at a connection portion between rails or driving power of a linear motor.
  • the control unit that acquires the connection state between the guide rails of the slider based on the vibration at the connection portion between the plurality of guide rails or the driving power of the linear motor.
  • the control unit that acquires the connection state between the guide rails of the slider based on the vibration at the connection portion between the plurality of guide rails or the driving power of the linear motor.
  • control unit is configured to perform control for notifying the connection state based on the connection state between the guide rails of the slider.
  • the transfer unit has a fixed first transfer unit and a second transfer unit, a movement mechanism for moving the guide rail and the linear motor, and the slider is the first.
  • the control unit includes a third transport unit for transporting from the first transport unit to the second transport unit, and the control unit includes a connecting portion between the guide rails from the first transport unit to the third transport unit, and a third transport unit. It is configured to acquire the state of the connection between the guide rails of the slider based on the vibration at at least one of the connection portions between the guide rails to the second transport portion or the driving power of the linear motor.
  • a connecting portion of a guide rail between the third transport unit and the first transport unit or the second transport unit is preferable.
  • a vibration sensor is provided in the vicinity of the above, and the control unit is configured to acquire the state of connection between the guide rails of the slider based on the vibration detection result of the vibration sensor.
  • the vibration sensor is provided in the third transport unit.
  • the vibration of the third transport unit which is more likely to vibrate than the fixedly provided first transport unit or the second transport unit, is accurate. It can be detected well.
  • the first transport unit and the second transport unit have a guide rail and a linear motor and are in series with each other.
  • Each of a plurality of transport modules connected to the control unit is connected between the guide rails of the slider based on the vibration at the connecting portion between the guide rails of the plurality of transport modules connected in series or the driving power of the linear motor. It is configured to get the status of the transfer. With this configuration, it is possible to acquire the connection state of the slider at the connection portion of the guide rail between the transfer modules of the first transfer unit or the second transfer unit, which is fixedly provided.
  • the control unit when the vibration at the connecting portion between the guide rails or the driving power of the linear motor exceeds a predetermined threshold value, the control unit makes a connecting between the guide rails of the slider. It is configured to notify you of the status. With this configuration, when the vibration or the drive power of the linear motor becomes large beyond a predetermined threshold value, the operator can be urged to perform maintenance and inspection of the slider and the transport portion.
  • the control unit is connected between the guide rails of the slider when the vibration at the connecting portion between the guide rails or the driving power of the linear motor increases by a predetermined ratio from the initial state. It is configured to notify you of the status of your transit. With this configuration, it is possible to urge the operator to perform maintenance and inspection of the slider and the transport unit when the vibration or the driving power of the linear motor increases by a predetermined ratio from the initial state.
  • a plurality of sliders are provided, and the control unit is configured to distinguish each of the plurality of sliders and acquire the state of connection between the guide rails of the sliders. ing. With this configuration, it is possible to easily determine whether the cause is the individual slider or the connecting portion between the guide rails.
  • the transport device 100 is configured to transport the object to be transported mounted on the slider 30 along the transport units 1 and 2. Further, the object to be transported by the transport device 100 is operated at a plurality of transport positions. The object to be transported is operated by a robot or a worker.
  • the transfer device 100 includes a transfer unit 1, a transfer unit 2, a transfer transfer unit 3, a transfer transfer unit 4, and a slider 30. Further, as shown in FIG. 2, the transport device 100 includes a control unit 40 and a display unit 50.
  • the transport unit 1 is an example of the "first transport unit” and the “second transport unit” in the claims
  • the transport unit 2 is the “first transport unit” and the “second transport unit” in the claims. Is an example.
  • the transit transport unit 3 is an example of the “transport unit” and the “third transport unit” in the claims
  • the transit transport unit 4 is the “convey unit” and the "third transport unit” in the claims. Is an example.
  • the transport unit 1 includes a plurality of (three) transport modules 10.
  • the transport unit 2 includes a plurality of (three) transport modules 10.
  • the plurality of transport modules 10 are connected in series with each other to form a transport path for the slider 30.
  • the slider 30 conveys the transport units 1 and 2 in the X direction, and is conveyed from the transport unit 1 (2) to the transport unit 2 (1) in the Y direction by the transit transport units 3 and 4. That is, the slider 30 is transported and circulated in the order of the transport unit 1, the transit transport unit 3, the transport unit 2, and the transit transport unit 4.
  • the transport module 10 includes a linear motor stator 11, a position detection unit 12, and a vibration sensor 13. Further, the transport module 10 includes a guide rail 14 as shown in FIGS. 1 and 3. Further, the transport module 10 includes a cover 15.
  • the linear motor stator 11 is an example of a "linear motor” in the claims.
  • the transfer transfer units 3 and 4 include a transfer mechanism 20 that conveys the slider 30 in the X direction and a movement mechanism 21 that moves the transfer mechanism 20 in the Y direction.
  • the transport mechanism 20 includes a linear motor stator 11, a position detection unit 12, and a vibration sensor 13.
  • the moving mechanism 21 has a guide rail and a ball screw mechanism.
  • the slider 30 includes a slider main body 31, a linear motor mover 32, a guide block 33, and a magnetic scale 34.
  • a plurality of sliders 30 are provided. Further, the plurality of sliders 30 are configured to move independently on the transport units 1, 2 and the transit transport units 3 and 4, respectively.
  • the transport units 1 and 2 are provided substantially in parallel.
  • the transport unit 1 transports the slider 30 in the X2 direction, and the transport unit 2 transports the slider 30 in the X1 direction.
  • the transport units 1 and 2 are fixedly provided on the gantry. That is, the linear motor stator 11 and the guide rail 14 of the transport units 1 and 2 are fixedly provided.
  • the transit transfer unit 3 is arranged at a position adjacent to the transfer units 1 and 2 on the X2 direction side. Further, the transfer transfer unit 4 is arranged at a position adjacent to the transfer units 1 and 2 on the X1 direction side.
  • the transfer transfer units 3 and 4 move the guide rail 14 and the linear motor stator 11 in the Y direction by the moving mechanism 21.
  • the transit transfer units 3 and 4 are provided to transfer the slider 30 from the transfer unit 1 (2) to the transfer unit 2 (1).
  • the linear motor stator 11 includes an electromagnet, and the slider 30 is moved by supplying driving power (current) to the electromagnet.
  • the linear motor stator 11 is arranged along the transport direction (X direction). Further, as shown in FIG. 3, the electromagnet of the linear motor stator 11 is arranged so that the core extends along the Y direction.
  • the position detection unit 12 is provided so as to face the magnetic scale 34 provided on the slider 30 in the Y direction.
  • the position detection unit 12 is configured to detect the magnetism of the magnetic scale 34 and detect the position of the slider 30.
  • the position of the slider 30 detected by the position detection unit 12 is used for feedback control of the movement of the slider 30.
  • the vibration sensor 13 detects vibration when the slider 30 moves. Specifically, the vibration sensor 13 moves the slider 30 between the transfer modules 10, moves the slider 30 from the transfer module 10 to the transfer transfer unit 3, and moves the slider 30 from the transfer transfer unit 3 to the transfer module 10. Detects vibration during movement. Further, the vibration sensor 13 measures the acceleration and detects the vibration.
  • the vibration sensor 13 is provided in the vicinity of the connecting portion between the transport modules 10. Further, the vibration sensor 13 is provided in the vicinity of the connecting portion between the transport module 10 and the transit transport unit 3 or 4. Further, the vibration sensor 13 is provided in the transit transfer unit 3 in the vicinity of the transfer portion with the transfer module 10. Further, the vibration sensor 13 is provided in the transit transfer unit 4 in the vicinity of the transfer portion with the transfer module 10.
  • the guide rail 14 is arranged so as to extend along the transport direction (X direction) of the slider 30.
  • a pair of guide rails 14 are provided in parallel along the Y direction.
  • the guide rails 14 are arranged so that the sliders 30 can be transferred between the transport modules 10 adjacent to each other in the X direction.
  • the guide block 33 of the slider 30 is movably engaged with the guide rail 14 in the X direction.
  • the cover 15 is provided so as to cover above the linear motor stator 11, the position detection unit 12, the vibration sensor 13, and the guide rail 14. That is, the cover 15 is provided so that the upper parts of the linear motor stator 11, the position detection unit 12, the vibration sensor 13, and the guide rail 14 are not exposed even when the slider 30 is not provided.
  • the slider body 31 is configured so that an object to be transported is placed on it. Further, the slider main body 31 is provided so as to surround the covers 15 of the transport portions 1 and 2 when viewed from the transport direction (X direction). A linear motor mover 32, a guide block 33, and a magnetic scale 34 are attached to the slider main body 31.
  • the linear motor mover 32 is provided so as to sandwich the linear motor stator 11 in the Y direction.
  • the linear motor mover 32 includes a plurality of permanent magnets arranged along the transport direction (X direction).
  • the guide block 33 is provided so as to be movable along the guide rail 14.
  • the guide block 33 has a plurality of balls that move and circulate along the moving direction.
  • the magnetic scale 34 is magnetized in a predetermined pattern along the transport direction (X direction).
  • the control unit 40 is configured to control each unit of the transport device 100.
  • the control unit 40 controls the electric power supplied to the linear motor stator 11 to control the movement of the slider 30. Further, the control unit 40 controls the drive of the moving mechanism 21 of the transit transport units 3 and 4, and controls the movement of the transport mechanism 20.
  • the control unit 40 includes a CPU (Central Processing Unit), a memory, and the like.
  • control unit 40 is configured to acquire the state of connection between the guide rails 14 of the slider 30 based on the vibration at the connection portion between the plurality of guide rails 14 or the driving power of the linear motor stator 11. ing. Further, the control unit 40 is configured to perform control to notify the connection state based on the connection state between the guide rails 14 of the slider 30.
  • control unit 40 displays the connection status of the guide rail 14 of the slider 30 on the display unit 50 and notifies the display unit 40.
  • control unit 40 is a transfer portion between the guide rails 14 from the transfer unit 1 (2) to the transfer transfer unit 3 (4), and from the transfer transfer unit 3 (4) to the transfer unit 2 (1). Based on the vibration at at least one of the connecting portions between the guide rails 14 or the driving power of the linear motor stator 11, the connecting state between the guide rails 14 of the slider 30 is acquired.
  • control unit 40 connects between the guide rails 14 of the slider 30 based on the vibration at the connecting portion between the guide rails 14 of the plurality of transport modules 10 connected in series or the driving power of the linear motor stator 11. It is configured to get the state.
  • control unit 40 is configured to distinguish each of the plurality of sliders 30 and acquire the state of connection between the guide rails 14 of the sliders 30. That is, the control unit 40 distinguishes each of the plurality of sliders 30 and controls the movement while grasping the respective positions. Then, the control unit 40 also acquires the state in which the slider 30 is located at the connecting portion between the guide rails 14, so that the connecting state at that time is acquired.
  • control unit 40 is configured to acquire the state of connection between the guide rails 14 of the slider 30 based on the vibration detection result of the vibration sensor 13.
  • the control unit 40 notifies the state of the connection between the guide rails 14 of the slider 30 when the vibration at the connection portion between the guide rails 14 or the driving power of the linear motor stator 11 exceeds a predetermined threshold value. It is configured to do. For example, as in the example shown in FIG. 4, when the acceleration caused by the vibration exceeds the threshold value, the control unit 40 notifies the state of the connection between the guide rails 14 of the slider 30.
  • the threshold value is set to a value that does not damage the slider 30 and the guide rail 14.
  • the control unit 40 sets a predetermined time (for example, 400 ms) as the time when the slider 30 passes through the connecting portion between the guide rails 14. Then, the control unit 40 recognizes that the vibration within a predetermined time is the vibration generated at the connecting portion.
  • control unit 40 transfers the connection between the guide rails 14 of the slider 30 when the vibration at the connection portion between the guide rails 14 or the driving power of the linear motor stator 11 increases by a predetermined ratio from the initial state. It is configured to notify you of the status. For example, the control unit 40 notifies the connection state when the maximum value of vibration at the connection portion between the guide rails 14 increases by a predetermined ratio (for example, 20%) from the initial state (at the time of installation). Further, the control unit 40 transfers when the maximum value of the driving power of the linear motor stator 11 at the connecting portion between the guide rails 14 increases by a predetermined ratio (for example, 20%) from the initial state (at the time of installation). Notify the status of.
  • a predetermined ratio for example, 20%
  • the control unit 40 displays a notification on the display unit 50 that "the vibration from the date and time T1 is increasing at the place P1. Please confirm the position of the guide rail at the connecting part of the place P1.”
  • the control unit 40 says, "Vibration from the date and time T2 is increasing at location P2 and slider D1. Check the position of the guide rail at the connecting part of location P2 and check the status of slider D1. Is displayed on the display unit 50.
  • the control unit 40 notifies the display unit 50 that "At the location P3, the current value at the time of transit from the date and time T3 is increasing. Please check the position of the guide rail at the transit portion at the location P3.” Display on.
  • control unit 40 "confirms the position of the guide rail at the transit portion of the location P4 and the status of the slider D2 at the location P4 and the slider D2 when the current value at the time of transfer from the date and time T4 is increasing. Please do. ”Is displayed on the display unit 50.
  • control unit 40 displays a notification that "the vibration from the date and time T5 and the current value at the time of transfer are increasing at the place P5. Please confirm the position of the guide rail at the connecting part at the place P5.” Displayed in unit 50.
  • control unit 40 said, "At location P6 and slider D3, the vibration from the date and time T6 and the current value at the time of transfer are increasing. Check the position of the guide rail at the transfer portion of location P6 and confirm the status of slider D3. Is displayed on the display unit 50.
  • the display unit 50 displays a screen for operating the transfer device 100, information on the state of the transfer device 100, information on the work state, and the like. In addition, the display unit 50 displays the state of connection between the guide rails 14 of the slider 30.
  • the display unit 50 is composed of a thin display such as a liquid crystal display or an organic EL display. Further, the display unit 50 includes a touch panel for accepting operations.
  • step S1 of FIG. 5 the control unit 40 acquires the vibration at the time of transfer between the guide rails 14 of the slider 30 and the drive current of the linear motor stator 11.
  • step S2 the control unit 40 determines whether the acquired vibration or drive current is larger than the threshold value, or whether the acquired vibration or drive current has increased by 20% or more from the time of installation. If the acquired vibration or drive current is larger than the threshold value, or if the acquired vibration or drive current increases by 20% or more from the time of installation, the process proceeds to step S4. On the other hand, if the acquired vibration or drive current is not less than the threshold value and the acquired vibration or drive current has not increased by 20% or more from the time of installation, the process proceeds to step S3.
  • step S3 the control unit 40 determines that there is no problem. In this case, the state of connection between the guide rails 14 of the slider 30 is not notified. In addition, the acquired vibration during transfer between the guide rails 14 of the slider 30 and the drive current of the linear motor stator 11 are stored. After that, the process returns to step S1.
  • step S4 the control unit 40 determines whether or not there is a dependency on the specific slider 30. That is, the control unit 40 determines whether or not vibration is generated when the specific slider 30 passes through the connecting portion between the guide rails 14. When vibration is generated at the connecting portion between the guide rails 14 in the plurality of sliders 30, it is determined that there is no dependence on the specific slider 30. If there is a dependency on the specific slider 30, the process proceeds to step S5, and if there is no dependency on the specific slider 30, the process proceeds to step S6.
  • step S5 the control unit 40 notifies to confirm both the transfer position between the guide rails 14 and the specific slider 30. Further, when only the specific slider 30 is involved in the vibration, the user is notified to confirm the specific slider 30. After that, the transfer status notification process is completed.
  • step S6 the control unit 40 notifies to confirm the transfer position between the guide rails 14. After that, the transfer status notification process is completed.
  • the control unit 40 is provided to acquire the state of connection between the guide rails 14 of the slider 30 based on the vibration at the connection portion between the plurality of guide rails 14 or the driving power of the linear motor. ..
  • the state of connecting between the guide rails 14 of the slider 30 can be grasped based on the vibration or the driving power, so that the connecting state between the guide rails 14 can be grasped. It is possible to predict in advance that an impact will occur on the slider 30 at the connecting portion of the rail. Thereby, it can be effectively reflected in the preventive maintenance of the guide rail 14 and the slider 30. As a result, it is possible to prevent damage to the guide rail 14 and the slider 30 due to an impact on the slider 30 at the connecting position of the guide rail 14.
  • control unit 40 is configured to perform control for notifying the connection state based on the connection state between the guide rails 14 of the slider 30.
  • control unit 40 it is possible to give a notification before an abnormality occurs based on the connection state between the guide rails 14 of the slider 30, so that the operator can notify the slider 30 before the guide rail 14 and the slider 30 are damaged.
  • Transport units 1, 2 and transit transport units 3 and 4 can be maintained and inspected.
  • control unit 40 is connected to the transfer portion between the guide rails 14 from the transfer unit 1 (2) to the transfer transfer unit 3 (4), and the transfer transfer unit 3 ( It is configured to acquire the connecting state between the guide rails 14 of the slider 30 based on the vibration at at least one of the connecting portions between the guide rails 14 from 4) to the transport unit 2 (1) or the driving power of the linear motor. To do.
  • the accuracy of alignment is achieved at the transit portion between the transit transport portion 3 (4) that moves with respect to the transport portions 1 and 2 provided fixedly and the guide rail 14 between the transport portions 1 or 2. It is possible to acquire the change in the connecting state due to the change. As a result, it is possible to prevent damage to the guide rail 14 and the slider 30 at the connecting portion between the guide rails 14 that move relative to each other.
  • the vibration sensor 13 is provided in the vicinity of the connecting portion of the guide rail 14 between the connecting transport unit 3 (4) and the transport unit 1 or 2, and the control unit 40 vibrates. Based on the vibration detection result of the sensor 13, the connection state between the guide rails 14 of the slider 30 is acquired. As a result, the vibration sensor 13 provided in the vicinity of the connecting portion of the guide rail 14 between the connecting transport portion 3 (4) and the transport portion 1 or 2 facilitates vibration at the time of connecting between the guide rails 14 of the slider 30. Can be obtained.
  • the vibration sensor 13 is provided in the transit transport units 3 and 4.
  • the vibration sensors 13 are provided in the moving transfer transfer units 3 and 4.
  • control unit 40 of the slider 30 is based on the vibration at the connecting portion between the guide rails 14 of the plurality of transport modules 10 connected in series or the driving power of the linear motor. It is configured to acquire the state of connection between the guide rails 14. As a result, it is possible to acquire the connection state of the slider 30 at the connection portion of the guide rail 14 between the transfer modules 10 of the transfer units 1 or 2 provided in a fixed manner.
  • the guide rail 14 of the slider 30 is used. It is configured to notify the status of transit between.
  • the vibration or the drive power of the linear motor becomes large beyond a predetermined threshold value, the operator is required to perform maintenance and inspection of the slider 30, the transport units 1, 2, and the transit transport units 3 and 4. Can be urged to.
  • the slider 30 is configured to notify the status of the connection between the guide rails 14.
  • the operator is urged to perform maintenance and inspection of the slider, the transport units 1, 2, and the transit transport units 3 and 4. be able to.
  • control unit 40 is configured to distinguish each of the plurality of sliders 30 and acquire the state of connection between the guide rails 14 of the sliders 30. Thereby, it is possible to easily determine whether the cause is the individual slider 30 or the connecting portion between the guide rails 14.
  • the vibration sensor is provided in each of the plurality of transport modules and the transit transport unit (third transport unit) is shown, but the present invention is not limited to this.
  • the vibration sensor may be provided only at one of the connecting portions between the guide rails.
  • the moving mechanism of the transit transport unit (third transport unit) moves the linear motor and the guide rail in the horizontal direction
  • the present invention is not limited to this.
  • the moving mechanism of the third transport unit may be configured to move the linear motor and the guide rail in the vertical direction.
  • the first transport section and the second transport section may be arranged in the vertical direction.
  • the moving mechanism of the transit transport unit (third transport unit) translates the linear motor and the guide rail is shown, but the present invention is not limited to this.
  • the moving mechanism of the third transport unit may be configured to rotate and move the linear motor and the guide rail.
  • the present invention is not limited to this.
  • the state of connection between the guide rails may be notified by voice.
  • information may be transmitted to an external terminal to notify the user.
  • each of the transport units includes three transport modules is shown, but the present invention is not limited to this.
  • the transport unit may include 1, 2 or 4 or more transport modules.
  • control processing by the control unit is described using a flow-driven flow in which the processing is sequentially performed along the processing flow, but the present invention is not limited to this.
  • control process by the control unit may be performed by an event-driven type (event-driven type) process in which the process is executed in event units. In this case, it may be completely event-driven, or it may be a combination of event-driven and flow-driven.
  • Transport module 1 and 2 transport units (first transport unit, second transport unit) 3 and 4 Transit transfer section (transport section, 3rd transfer section) 10 Transport module 11 Linear motor stator (linear motor) 13 Vibration sensor 14 Guide rail 21 Movement mechanism 30 Slider 40 Control unit 100 Conveyor device

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  • Non-Mechanical Conveyors (AREA)
  • Control Of Linear Motors (AREA)
  • Linear Motors (AREA)
PCT/JP2019/049309 2019-12-17 2019-12-17 搬送装置 Ceased WO2021124429A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE112019007860.7T DE112019007860B4 (de) 2019-12-17 2019-12-17 Fördervorrichtung
JP2021565189A JP7286803B2 (ja) 2019-12-17 2019-12-17 搬送装置
CN201980103002.4A CN114829274B (zh) 2019-12-17 2019-12-17 输送装置
US17/782,486 US11738954B2 (en) 2019-12-17 2019-12-17 Conveyance device
PCT/JP2019/049309 WO2021124429A1 (ja) 2019-12-17 2019-12-17 搬送装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/049309 WO2021124429A1 (ja) 2019-12-17 2019-12-17 搬送装置

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WO2021124429A1 true WO2021124429A1 (ja) 2021-06-24

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US (1) US11738954B2 (https=)
JP (1) JP7286803B2 (https=)
CN (1) CN114829274B (https=)
DE (1) DE112019007860B4 (https=)
WO (1) WO2021124429A1 (https=)

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WO2023135260A1 (en) 2022-01-14 2023-07-20 Jazz Pharmaceuticals Ireland Limited Novel amine-substituted phthalazines and derivatives as sos1 inhibitors
WO2023180345A1 (en) 2022-03-22 2023-09-28 Jazz Pharmaceuticals Ireland Limited Tricyclic phthalazines and derivatives as sos1 inhibitors

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112020007251T5 (de) * 2020-07-29 2023-03-30 Yamaha Hatsudoki Kabushiki Kaisha Fördervorrichtung und Schieberpositionsdetektionsvorrichtung

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