JPH0423726A - Carrying device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention [i] relates to a conveyance device that distributes conveyance bodies to conveyance rails corresponding to their destinations and conveys them.

[Prior Art] Traditionally, sewing factories, etc. (2) have been used as transport devices for transporting transport bodies holding work-in-progress materials such as sewn products.
For example, as described in Japanese Patent Application No. 1193129 filed by the applicant of Gihon, a distribution mechanism connected to a plurality of conveyor wheels for conveying conveyance bodies is controlled by a distribution control means, and conveyance bodies are placed thereon. An arrangement has been proposed in which a sorting arm is rotated to distribute and convey each conveying object to a conveying rail corresponding to its destination.

[Problems to be Solved by the Invention] In these conventional devices, the conveyance objects conveyed by the conveyance rails are sequentially delivered to the distribution mechanism, and the operation of distributing the conveyance objects to the conveyance rails corresponding to the destinations of the conveyance objects is carried out as follows. This process was repeated in sequence for each conveyance body that was conveyed. However, for example, if multiple conveyance bodies are conveyed from multiple conveyance rails and there are multiple conveyance bodies in the distribution mechanism, these conveyance bodies are sorted in descending order of the rotation angle of the distribution arm according to the destination. Since the objects are sorted to the conveyor rails, or the sorting arm is assigned an order and the objects are distributed to the conveyor rails corresponding to the destinations in that order, there is a problem that the time it takes to finish conveying the conveyed objects increases. In other words, if the conveyance objects with the closest destinations are sorted first and the conveyance objects with the far destinations are sorted later, the conveyance objects with the far destinations will have to wait until then, so the conveyance objects with the far destinations will be further distributed. There was a problem that the processing time became long.

Therefore, the present invention aims to solve the above problems,
It is an object of the present invention to provide a conveying device capable of improving work efficiency by shortening the time required to set up a conveying body.

[Means for Solving the Problems] In order to achieve the above object, the present invention has the following configurations as means for solving the problems. That is, as illustrated in FIG. 7, the distribution system is connected to a plurality of conveyance rails that convey conveyance bodies, and is capable of distributing the plurality of conveyance bodies carried in from the conveyance rails to one of the conveyance rails and carrying them out. a storage means M2 that stores the destination of each of the conveyance bodies; and a distribution mechanism that controls the distribution mechanism M1 to distribute the plurality of conveyance bodies to conveyance rails corresponding to the destinations of the respective conveyance bodies. and a control means M3 for transporting the transport bodies, wherein the stored destinations are arranged in a descending order along the transport rail, and the distribution control means M3 transports the transport bodies according to the order. This is a configuration of a conveying device characterized in that it is equipped with a sorting order setting means M4 for causing the conveyance to be carried out to the conveying rail according to the destination.

[Function] In the conveyance device of the present invention having the above configuration, the storage means M2 stores the destination of each conveyance body carried in from the conveyance rail. Then, the distribution order setting means M4 sets an order in which the stored destinations are farthest along the conveyance rail, and the distribution control means M3 distributes the conveyance bodies to one of the conveyance rails according to the destination according to the order. Have it removed.

[Example] Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 2 is a schematic layout diagram of a conveyance device that is an embodiment of the present invention. A plurality of sorting mechanisms 1a, 1b, . . . are spaced apart from each other and connected to each other by bridge rails 0 to be described later. [Distributing mechanism] a, 1b, . . . have the same structure, so the following description will focus on one distributing mechanism 1a.

As shown in FIGS. 3 to 5, the distribution mechanism [a] is provided with a support 3 that stands up on the floor 2. As shown in FIGS. The support shaft 4 is erected at the upper end of the support column 3 via a mounting base 5. A support plate 6 is fixed to the upper end of the support shaft 4. The station rail support frame 7a in the shape of a rectangular frame is located at the upper surface of the support plate 6 at its intermediate portion! Two supports are fixed. A pair of parallel bridge rail support frames 7b are adjacent to the distribution mechanisms 1a, 1b...
It is supported and fixed across the support plates 6 of.

On the other hand, work stations ST], . . . are arranged around the sorting mechanisms 1a, . In this embodiment shown in FIG. 2, (upper distribution mechanism) the area around a is for station numbers ST1 and ST2, the area around the distribution mechanism 1b is for station numbers ST3 and ST4, and so on, starting from the distribution mechanism 1a. Two work stations ST], . . . are arranged in descending order of station numbers toward the distribution mechanism]e.Toward the work stations ST1, . The support frame 7a is extended.

A pair of parallel bridge rails ]O are suspended and supported by a plurality of hanging fittings 9 on the support frames 7a, 7b, and are provided between the distribution mechanisms]a, ]b, . . . ing. Further, a station rail 1] having a 1 mm horseshoe shape is provided to transport the transport body 36 via the work stations STI, . . . arranged around the sorting mechanisms]a, ]b,... The bridge rail 1o and the station rail 1 constitute a transport rail. The carry-in rail parts 10a, llb and the carry-out rail parts 70b, llb are formed at both ends of the bridge rail 10 and the station rail 11, respectively. They are arranged at predetermined angle intervals (45 degrees in the embodiment) at the same height.

In this embodiment, the unloading rail portions 10b, 1]b are 4
In order to distinguish between the bridge rail 10 or the station rail 11 for transporting the carrier 36, numbers from ■ to ■ are predetermined as shown in FIG. 2. Note that the work station STI,...
is formed by a sewing device such as a sewing machine located below the station rail 11.

As shown in FIGS. 5 and 6, the rotating shaft [2] is fixed to the support plate 6 of the distribution mechanism [a] and is rotatable via the bracket [3] (supported through two holes, and a drive sprocket 14 is fixed to the lower end of the bracket). The driven sprocket 15 is rotatably and position-adjustably attached to the lower surface of the other side of the support plate 6 via a movable bracket 16 so as to be located on the opposite side of the driving sprocket 14 via the support shaft 4. ing.

A pair of interlocking shafts 17 are rotatably and positionally adjustable and supported through the support plate 6 via a movable bracket 18 so as to be located between the sprockets 14 and 15, and an interlocking sprocket 19 is fixed to their lower ends. has been done.

The endless first chain 20 is hung across the adjacent distributing mechanism [b] driving sprocket] 4 and driven sprocket] 5, and a plurality of guiding sprockets 2] provided on the lower surface of the support plate 6. And a plurality of chain guides 22 provided on each hanging metal fitting 9
It is stretched along the The endless second chain 23 is attached to each interlocking sprocket 9, and is attached to the support plate 6.
The station rail is stretched along the station rail 1 by a plurality of guiding sprockets 24 provided on the lower surface of the station rail and a plurality of chain guides (paths shown) provided on each hanging metal fitting 9.

A chain drive motor 26 is mounted on the support plate 6 of the distribution mechanism [a] via support legs 27.A drive pulley 28 is fixed to the motor shaft 26a. The driven pulley 29 is fixed to the upper end of the rotating shaft 2, and a timing belt 30 is hung between the driven pulley 29 and the drive pulley 28. The three interlocking pulleys 3] are fixed to the intermediate portion of the rotating shaft [2] and the upper end of the interlocking shaft 17, respectively, and a timing belt 32 is hung around these interlocking pulleys 3]. A timing belt 3 is mounted on the support plate 6.
A pair of tension pulleys 33 that apply tension to
is provided.

As shown in FIGS. 4, 6, and 8, the conveyor 36 is movably connected to the bridge rail 10 or station rail 1 via a pair of transfer rollers 37.
It is shaped like a hanger so that items such as sewn products can be hung there. A pair of engagement shafts 38 having a plurality of engagement protrusions 38a on the outer periphery are rotatably supported by the carrier 36, and the rotation of the engagement shafts 38 is normally regulated by friction means (not shown). Then, the engagement protrusion 38a of the engagement shaft 38
is engaged with the first or second chain 20.23,
The movement of the chains 20, 23 causes the conveyor 36 to be conveyed along the bridge rail [O or the station rail]].

As shown in FIG. 3, a number reading device 39 is attached to the hanging bracket 9 on the loading rail portions 10a and 11a of the bridge rail 10 and the station rail on the other side, and the carrier 36 is mounted on the When the conveyor 3 is conveyed along the rail 10 or the station rail to a position corresponding to the number reader 39, the conveyor 3 comes into contact with a stopper (not shown).
6 is temporarily stopped, the number reading device 39 reads the number from a code mark (not shown) attached to the conveyor 36 for identifying the conveyor. The chain 20.23 continues to move even when the conveyor 36 is stopped, but in this case, the engagement shaft 38 is made to idle as the chain moves against the action of the friction means.

As shown in FIGS. 3 to 7, a rotating body 41 is rotatably supported on the support shaft 4 of the sorting mechanism 1a via a radial bearing 42, and the lower edge of the rotating body 41
A thrust bearing 43 is interposed between the two.

Then, a plurality of (eight in this embodiment) sorting arms 44 are arranged at a predetermined angle (in this embodiment, eight) on the outer peripheral edge of the rotary body 4 so as to face the loading and unloading rail sections 10a, 11a, 10b, and 1b. 45 degrees in the example) and extend radially to a position corresponding to the moving range of the fixed gourd 1 chain 20 or the second chain 23.

Further, as shown in FIGS. 6 and 9, detection objects 54 are attached to the lower surface of the rotating body 41 at positions corresponding to the respective distribution arms 44. As shown in FIGS. A detector 57 is mounted on the support plate 52 corresponding to the detected object 54. When this detector 57 detects the end of the detected object 54, the origin position of the rotating body 4 is detected. It is configured to

A holding rail 45 for holding the transport body 36 is swingably attached to the tip of each sorting arm 44 by a shaft 46. An engaging protrusion 45a is formed at the inner end of the holding rail 45. As shown in FIG.
is held in an inclined state with the engaging protrusion 45a lowered by its own weight, and the conveyor 36 is connected to the first or second chain 20.23.
When the transfer body 36 is carried onto the distribution arm 44 from the carry-in rail portions 10a, lla of one of the bridge rails [0 or station rail]1, the carrier 36 engages with the engagement protrusion 45a along the holding rail 45. The engagement shaft 38 is lowered to the first or second chain 20.23 position.
It is configured to be disengaged from the engagement.

As shown in FIGS. 4 to 7, a servo motor 47 for arm rotation, which can rotate in forward and reverse directions, is mounted on the support plate 6.
A drive pulley 48 is fixed to the motor shaft 47a. A driven pulley 49 is fixed to the upper surface of the rotating body 4 by being fitted onto the support shaft 4, and a timing belt 50 is hung between the driven pulley 49 and the driving pulley 48. By rotating the servo motor 47 in the forward or reverse direction, the rotating body 41 is rotated by a predetermined angle of 45 degrees or an integral multiple thereof in the forward or reverse direction via the drive pulley 48, timing belt 50, and driven pulley 49. is,
A distribution arm 44 holding the carrier 36 can be rotated to a position facing a predetermined bridge rule 10 or station rail 1.

The servo motor 47 is feedback-controlled based on the detection signal of the detected object 54 from the detector 57 described above, and an encoder 72 is installed inside the servo motor 47 to control the servo motor. 47, that is, the rotation angle of the distribution arm 44.

In addition, as shown in FIGS. 4 and 6, a support plate 5 (push-up cylinder 5) is provided below each distribution arm 44.
2 is mounted on the mounting base 5, and the upper end of the piston rod 51a (2 is provided with a push-up body 53 that can engage with the holding rail 45 on the distribution arm 44. When the piston rod 51a is moved to protrude as shown in FIG. 5 and the push-up body 53 is raised, the holding rail 45 that supported the carrier 36 is rotated from a downwardly inclined state to a horizontal state, and the carrier An engagement shaft 38 on 36 is configured to be engaged with the first or second chain 20.23.

Next, the electrical system of this embodiment will be explained with reference to the block diagram shown in FIG. Each of the devices described above is driven and controlled by an electronic control circuit 60 to transport the transport body 36. This electronic control circuit 60 includes a well-known CPU 62, ROM 64, RA
The common bus 70 is configured with M66 as the center of the logic operation circuit, and the input/output circuit 68, etc. that performs input/output with external devices.
are interconnected through.

The CPU 62 receives signals from the number reading device 39, the detector 57, the encoder 72, a keyboard 74, which will be described later, and the like through the input/output circuit 68.

On the other hand, based on these signals and the data in the ROM 64 and RAM 66, a drive signal for driving the servo motor 47 is outputted via the CPU 621 & input/output circuit 68, and a drive signal for driving the servo motor 47 is outputted via the input/output circuit 68. A drive signal is output to a control valve (not shown) to push up the cylinder 5.
].

Further, the electronic control circuit 60 controls each distribution mechanism ]a, ]b
, . . . , and the plurality of electronic control circuits 60 are connected to a host computer 75.
A host computer 75 controls the entire transport device.

Then, the host computer 75 uses a keyboard 74 to send information to each transport body 36 according to the work process of sewing products, etc.
In what order each work station ST],...
The order of transport is input for each transport body 36.

Then, the host computer 75 outputs to each electronic control circuit 60, for each carrier 36, a destination instruction indicating to which work station STI, . . . the carrier 36 should go next. Each electronic control circuit 60 stores destination instructions from a host computer 75 as in the contents of a destination instruction table 76 shown in FIG.

The above transport order may be inputted into each electronic control circuit 60, and the destination instruction for each transport body 36 may be stored in each electronic control circuit 60. When the transport body 36 arrives at the designated work station STI, . . is output to each electronic control circuit 60 to rewrite the destination instruction table 76.

Next, the process performed in the electronic control circuit 60 described above during the course of the conveyance device of this embodiment will be explained with reference to the flowchart shown in FIG.

First, sort! l structure] When the chain drive motor 26 provided in the chain a is rotated, the first chain 20 is moved to the bridge via the drive pulley 28, timing belt 30, etc., as shown in FIGS. 4 and 5. The second chain 23 is moved along the station rail 10 in a counterclockwise direction in FIG. They are moved around in the same direction.

Thereby, the carrier 36 on the bridge rail 10 or the station rail 11 is moved to the bridge rail 1 with the engagement shaft 38 engaged with the first or second chain 20.23.
0 or station rail]] in the direction of the arrow in FIG.

Then, the transport body 36 is transported to a position corresponding to the number reading device 39 by the bridge rail 101jQ, and the transport body 36 is temporarily stopped by a stopper (not shown). At this time, depending on whether or not the number reading device 39 reads the number for identifying the carrier 36 attached to the carrier 36, the sorting mechanism]a (the sorting mechanism) determines whether there is a carrier 36 to be carried in, and determines whether or not there is a carrier 36 to be carried in. If it is determined that
Represented by 0. Same hereafter). Next, each distribution arm 44
The carrier 36 carried into the sorting arm 44 for each
The presence or absence of is stored (S110). In this embodiment, each sorting arm 44 is assigned an arm number 1 to 8 to distinguish it, and the sorting arm 44 of a certain arm number is transferred to the carrying-in rail section 10a, 1]a at the two opposing positions. The number reading device 39 reads whether the body 36 is carried in, and stores presence "]" and absence "0" as shown in the conveyance body distribution table 78 shown in FIG. Since there are four locations of 10a, 1]a, up to four carriers 36 may be carried in at the same time.

Next, with reference to the destination instruction table 76 in FIG.
The rotation angle is calculated to determine how many times the numbered distribution arm 44 should be rotated in order to distribute it to the rail [0, ]] corresponding to the destination instruction. Then, as shown in the carrier distribution table 78 of FIG. 13, the rotation angle, destination rail number, and color are stored for each distribution arm 44, and a distribution command is set (S120). S]] When there are multiple carriers 36 whose existence has been confirmed in 0 (
The process of 5120 is repeated for all conveyance bodies 36, and the rotation angle and destination rail number are memorized for each distribution arm 44, and a distribution command is set (S130).
.

This transport object distribution table 78[i in FIG. 13 is related to the distribution mechanism 1b, and the following description will focus on the distribution mechanism 1b. Example (melon) This sorting mechanism 1
In b, when the carrier number 36-1 completes its work at work station ST3 and is carried into the station rail 11, the sorting arm 44 with the sorting arm number ■ facing the station rail]] It is set to be delivered to Also, since the next destination is work station ST7, the rotation angle at which the distribution arm 44 (distribution arm number 1) faces the bridge rail 10 (destination rail number ■) connected to the adjacent distribution mechanism]C 135° (counterclockwise direction is positive) is calculated and set (S120). Similarly, for the conveyance bodies numbered 36-2.3 and 6-3.36-4, which are carried in at the same time, each work station ST
3, STI, and 5TIO, the rotation angle of the distribution arm 44 and the destination rail number are calculated and stored, and a distribution command is set (S120, 8130).

After setting the distribution commands for all conveyance bodies 36,
The distances along the bridge rail]0 to the destinations of the respective transport bodies 36 are compared, and a sorting order is set in descending order of distance (S140). For example, when four carriers 36-1 to 36-4 having the forward light instructions shown in the forward light instruction table 76 in FIG. 12 are carried into the sorting mechanism shown in FIG. The destination work station number], 2, ... is subtracted from the numbers 3.4 of the work stations ST3 and ST4 connected to the sorting mechanism 1b, and the absolute values are compared. Since work stations ST3 and ST4 are arranged at b, the reference value is set to 3, and the destination work station number 1.2, . . . is subtracted from 3, and the larger the absolute value, the farther away it is.

Since the destination station number of the carrier 36-1 is 7, 17-31 = 4 indicates the degree of distance. Similarly, the carrier 36-2 is 13-31 = O1, and the carrier 36-3 is 1l-
31=2, and 13-10=7 for the transport body 36-4, respectively, indicating the degree of distance. Therefore, if you set the withdrawal order in the order of distance, that is, the order of the above values, (1)
The order is transport body 36-4, (2) transport body 36-1, (3) transport body 36-3, and (4) transport body 36-2.

Then, the numbers (1) to (4) are stored as shown in the carrier distribution table 78 of FIG. 13.

Alternatively, it is also possible to store the above-mentioned absolute values as the order as they are, without changing the order from friend to distant, and to judge the distant order based on the magnitude of the absolute value. be.

After the necessary distribution commands are stored in the carrier distribution table 78 in this manner, the stopper is retracted to release the stop of the carrier 36, and the carrier 36 is moved to the loading rail as shown in FIG. 10a, lla onto the sorting arm 44 (S 15 C)). Then,
It descends under its own weight on the holding rail 45 in a downwardly inclined state to a position where it engages with the engagement protrusion 45a, and the engagement shaft 38 is released from engagement with the first or second chain 20.23, and the carrier 36
is held stationary on the holding rail 45.

In this state, based on the carrier distribution table 78,
The servo motor 47 for arm rotation is rotated by a predetermined angle to rotate the rotating body 4 in the forward or reverse direction via the drive pulley 48, etc., and the sorting arm 44 holding the carrier 36 is moved to the carrier rail section 10b. , 11b (S160).゛In the case of this example,
First, the rotating body 4] rotates the sorting arm 44 with the sorting arm number 7 whose carrying order is (]) by 135 degrees.
Rotate 135° counterclockwise. Then, the distribution arm 44 with the distribution arm number 7 is arranged opposite to the bridge rail]0 (destination rail number ■) which is the destination rail of the carrier 36-4 being held. Thereafter, the push-up cylinder 5 corresponding to the distribution arm 44 with the distribution arm number 7 holding the carrier 36-4 raises the push-up body 53, and rotates the holding rail 45 from the downwardly inclined state to the horizontal state. Raise each carrier 36,
The engagement shaft 38 is engaged with the first or second chain 20.23. Then, as the first or second chain 20.23 moves, the carrier 36-4 is carried out from the distribution arm 44 to the carry-out rail section 10b (S170).

Similarly, the process of step 5160 and step S]70 is repeated until all the remaining carriers 36-1 to 36-3 are carried out based on the carrier sorting table 78 in accordance with the carry-out order (S180), and all After the carrier 36 is unloaded, the process returns to 5100 and the following process is repeatedly executed.

Note that when the transport body 36 reaches a position corresponding to the work stations STI, . In this state, a worker such as a sewing fabricator removes an article such as a sewn product from the conveyor 36, performs sewing or other work on the article, and then returns the article to the conveyor 36 (after returning the article to the stopper 36). is evacuated, and transport of the transport body 36 is resumed.

Incidentally, the RAM 66 functions as a storage means M2, and the memory 5150~
Execution of the process 5180 functions as the distribution control means M3. Further, the execution of the process 5140 functions as the distribution order setting means M4.

As described above, the conveying device of the present invention has the following functions for each conveying body 36:
The distances along the bridge rail]0 to the destinations are compared, a sorting order is set in descending order of distance, and the carrier 36 is carried out in accordance with the sorting order. Therefore, the conveyance bodies 36 whose destinations are far away can be quickly carried out from the respective sorting mechanisms]a,..., and the conveyance bodies 36 whose destinations are far away
is carried out first, and while the carrier 36 is being carried,
Since the conveyance body 36 having a near destination is carried out, the waiting time of the conveyance body 36 having a far destination can be shortened, the processing time can be shortened, and work efficiency can be improved.

The present invention is not limited to these embodiments in any way, and may be implemented in various forms without departing from the gist of the present invention. In the above embodiment, the distribution arm 44
Eight distribution arms 44 are arranged radially every 45 degrees, but depending on the application, the number of distribution arms 44 can be increased to, for example, 36
It may be set to 0 at every turn.

[Effects of the Invention] As detailed above, the conveyance device of the present invention sets the order in descending order of the destination and carries out the conveyance bodies according to that order, so that the conveyance bodies with far destinations are conveyed out quickly from each sorting mechanism. This allows you to shorten the time required to set up the conveyor,
This has the effect of improving work efficiency.

[Brief explanation of drawings]

Fig. 1 is a block diagram illustrating the basic configuration of the present invention, Fig. 2 is a schematic layout of a transport device which is an embodiment of the present invention, and Fig. 3 is a distribution diagram of a transport device which is an embodiment of the invention. FIG. 4 is a plan view showing the schematic structure of the mechanism, rails, etc.; FIG. 5 is a plan view showing the drive structure of the sorting mechanism of this embodiment; FIG. Figure 7 is B of Figure 5.
8 is a sectional view taken along line C-C in FIG. 6, FIG. 9 is a sectional view taken along line DD in FIG. FIG. 11 is a flowchart showing the distribution control process performed in the electronic control circuit of this embodiment. FIG. 12 is an explanatory diagram showing the forwarding light instruction table of the carrier body of this embodiment. FIG. 13 is a flowchart showing the distribution control process performed in the electronic control circuit of this embodiment. It is an explanatory diagram showing a table. M], 1a to 1e...Distribution mechanism M2...Storage means M3...Distribution control means M4...Distribution order setting means STI to 5TIO...Work station 10...Bridge rule]] ... Station rail 36 ... Transport body 60 ... Electronic control circuit

Claims (1)

[Scope of Claims] A sorting mechanism connected to a plurality of transport rails that transport transport bodies, and capable of distributing the plurality of transport bodies carried in from the transport rails to one of the transport rails and carrying them out; a storage means for storing a destination of each conveyance body; and a distribution control means for controlling the distribution mechanism to allocate the plurality of conveyance bodies to conveyance rails corresponding to the destinations of the respective conveyance bodies; In the conveyance device for conveying the conveyance bodies, the stored destinations are arranged in a descending order along the conveyance rail, and the distribution control means moves the conveyance bodies according to the order to the conveyance rail according to the destination. 1. A conveyance device characterized by comprising a means for setting a sorting order for conveyance.