WO2019093473A1 - Système de transport, dispositif de commande, procédé de commande et programme - Google Patents

Système de transport, dispositif de commande, procédé de commande et programme Download PDF

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Publication number
WO2019093473A1
WO2019093473A1 PCT/JP2018/041652 JP2018041652W WO2019093473A1 WO 2019093473 A1 WO2019093473 A1 WO 2019093473A1 JP 2018041652 W JP2018041652 W JP 2018041652W WO 2019093473 A1 WO2019093473 A1 WO 2019093473A1
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WO
WIPO (PCT)
Prior art keywords
transport
tbn
driven body
units
gear
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/JP2018/041652
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English (en)
Japanese (ja)
Inventor
康彦 小玉
小林　正嗣
山口　敬
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.)
NEC Embedded Products Ltd
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NEC Embedded Products 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 NEC Embedded Products Ltd filed Critical NEC Embedded Products Ltd
Publication of WO2019093473A1 publication Critical patent/WO2019093473A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • B65G13/04—Roller-ways having driven rollers all rollers driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B65G35/06—Mechanical conveyors not otherwise provided for comprising a load-carrier moving along a path, e.g. a closed path, and adapted to be engaged by any one of a series of traction elements spaced along the path
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/04—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising a rack

Definitions

  • the present invention relates to a transfer system, a control device, a control method, and a program.
  • the rack gear is linearly configured and provided with teeth, and the teeth of the pinion gear are engaged with the teeth of the rack gear. In this state, the rack gear is driven by the pinion gear to move in the longitudinal direction of the rack gear itself.
  • Patent Document 1 describes a traveling body including an involute gear as a traveling wheel and traveling on a traveling plate formed of a two-dimensional rack gear.
  • Patent Document 2 describes a multi-directional drive device that drives a driving body configured by a two-dimensional rack gear with gears (pinion gears) arranged in different rotational directions.
  • Patent Document 3 describes dimensions when constructing a two-dimensional toothed floor (two-dimensional rack gear).
  • a conveyance system for conveying an article it is preferable to flexibly set the conveyance path.
  • Two-dimensional rack gears and pinion gears can be used to provide flexibility in the direction of transport of the articles. Furthermore, it is preferable that the range in which the article is transported and the timing at which the article is transported be flexible.
  • An example of the object of the present invention is to provide a transport system, a control device, a control method and a program that can solve the above-mentioned problems.
  • a transport system includes a driven body and a plurality of transport units.
  • the driven body is provided on a bottom surface of the driven body and includes a two-dimensional rack gear having downward teeth.
  • Each of the plurality of transport units meshes with the two-dimensional rack gear, rotates in a first rotation direction, transmits power to the two-dimensional rack, and transports the driven body in the first transport direction.
  • a second pinion gear for conveying in the direction is provided.
  • the plurality of transport units are arranged side by side in at least one of the first transport direction and the second transport direction.
  • the control device is a control device for controlling a plurality of transport units for transporting the driven body.
  • the driven body has a two-dimensional rack gear provided on the bottom surface of the driven body and having downward teeth.
  • Each of the plurality of transport units meshes with the two-dimensional rack gear, rotates in a first rotation direction, transmits power to the two-dimensional rack, and transports the driven body in the first transport direction.
  • a second pinion gear for conveying in the direction is provided.
  • the plurality of transport units are arranged side by side in at least one of the first transport direction and the second transport direction.
  • the plurality of transport units include first and second transport units adjacent to each other.
  • the control device is configured such that the direction and speed at which the driven body is transported by the first transport unit is the same as the direction and speed at which the driven body is transported by the second transport unit.
  • a control unit is provided to control rotation of the first pinion gear and the second pinion gear of each of the first and second transport units.
  • a control method comprises: engaging with a two-dimensional rack gear provided with teeth downward on the bottom surface of a driven body to transmit power respectively; and a first pinion gear having different rotational directions; A conveyance unit comprising a second pinion gear, wherein two adjacent conveyance units are arranged among a plurality of conveyance units arranged in at least one of the conveyance direction by the first pinion gear and the conveyance direction by the second pinion gear. Controlling rotation of the first pinion gear and the second pinion gear of each of the two transport units such that the transport direction of the driven body in the transport unit is the same transport direction.
  • the program is a program for a computer that controls the transport system main body.
  • the transport system main body meshes with the driven body including a two-dimensional rack gear having downward teeth on the bottom surface, and the two-dimensional rack gear, rotates in a first rotation direction, and transmits power to the two-dimensional rack.
  • the apparatus further comprises second pinion gears that transmit power and transport the driven body in a second transport direction, and are arranged side by side in at least one of the first transport direction and the second transport direction, A plurality of transport units, including adjacent first and second transport units.
  • the direction and speed at which the driven body is transported by the first transport unit to the computer is the same as the direction and speed at which the driven body is transported by the second transport unit.
  • the rotation of the first pinion gear and the second pinion gear of each of the first and second transport units is controlled.
  • the transport route can be flexibly configured.
  • FIG. 1 is a diagram showing an overall configuration of a drive device according to an embodiment of the present invention. It is a figure showing an outline of an example of an outline of a transportation tray concerning an embodiment of the present invention. It is a figure showing an outline of an example of an outline of a transportation tray concerning an embodiment of the present invention. It is a figure which shows the structural example of the conveyance unit which concerns on embodiment of this invention in a perspective view. It is a figure which shows the example which looked at the inside of the conveyance unit which concerns on embodiment of this invention from the direction of arrow V of FIG. FIG.
  • FIG. 5 is a view showing an example of the inside of the transport unit according to the embodiment of the present invention as viewed in the direction of arrow VI in FIG. It is a figure showing an example of meshing with a tooth of a plane gear concerning an embodiment of the present invention, and a tooth of a driving gear. It is a figure showing the 1st example which applied the transportation system concerning an embodiment of the present invention to the line of a factory. It is a figure which shows the 2nd example which applied the conveyance system which concerns on embodiment of this invention to the line of a factory. It is a figure which shows the 1st example of storage of the storage thing in the warehouse using the conveyance system which concerns on embodiment of this invention.
  • FIG. 1 shows the 2nd example of storage of the storage thing in the warehouse using the conveyance system which concerns on embodiment of this invention. It is a figure showing the 1st example which applied the conveyance system concerning an embodiment of the present invention to a restaurant. It is a figure which shows the 2nd example which applied the conveyance system concerning embodiment of this invention to the restaurant. It is a figure which shows schematic structure in the conveyance unit arrange
  • FIG. 17 is a diagram showing an example of an output signal from a microcontroller in the example of FIG. 16 in the embodiment of the present invention. It is a figure which shows the 2nd example of delivery of the conveyance tray between conveyance units which concerns on embodiment of this invention.
  • FIG. 19 is a diagram showing an example of an output signal from a microcontroller in the example of FIG. 18 in the embodiment of the present invention. It is a figure which shows the 3rd example of delivery of the conveyance tray between conveyance units which concerns on embodiment of this invention.
  • FIG. 21 is a diagram showing an example of an output signal from a microcontroller in the example of FIG. 20 in the embodiment of the present invention.
  • FIG. 23 is a diagram showing an example of an output signal from a microcontroller in the example of FIG. 22 in the embodiment of the present invention. It is a figure which shows the 5th example of delivery of the conveyance tray between conveyance units which concerns on embodiment of this invention.
  • FIG. 25 is a diagram showing an example of an output signal from a microcontroller in a change from the state shown at the top in the example of FIG. 24 to the state shown at the second place from the top in the embodiment of the present invention.
  • FIG. 25 is a diagram showing an example of an output signal from a microcontroller in a change from the second illustrated state from the top in the example of FIG.
  • FIG. 25 is a diagram showing an example of an output signal from a microcontroller in a change from the state shown third from the top in the example of FIG. 24 to the state shown at the bottom in the embodiment of the present invention. It is a figure which shows the 6th example of delivery of the conveyance tray between conveyance units which concerns on embodiment of this invention.
  • FIG. 29 illustrates an example of the output signal from the microcontroller in the example of FIG. 28 in an embodiment of the present invention.
  • FIG. 7 shows an example of a transport system according to another embodiment of the present invention. It is a figure which shows the example of the control apparatus which concerns on another embodiment of this invention.
  • FIG. 1 is a schematic block diagram showing a functional configuration of a transfer system according to an embodiment of the present invention.
  • the transport system 100 includes a drive device 101 which is a main body of the transport system, a control device (control unit) 200, and a host system 300.
  • the driving device 101 includes a transport tray 11 as a driven body, and a plurality of transport units 20.
  • the transport system 100 is a system for transporting (moving) an object to be transported.
  • the driving device 101 carries the object to be conveyed under the control of the control device 200.
  • the transport tray 11 is configured to be able to place the transported object on the top surface.
  • the transport tray 11 transports the transported object by moving by the drive of the transport unit 20 in a state where the transported object is placed.
  • the transport unit 20 drives the transport tray 11.
  • the control device 200 controls the transport unit 20 to drive the transport tray 11.
  • the host system 300 functions as a user interface of the transport system 100.
  • the host system 300 receives a user operation instructing the operation of the drive device 101, and notifies the control device 200 of an operation instruction based on the user operation.
  • the host system 300 instructs the control device 200 to move the transport tray 11 by designating the transport unit 20 as the start point of movement of the transport tray 11 and the transport unit 20 as the end point.
  • the host system 300 also displays various information on the operation of the drive device 101.
  • the transport system 100 may include a sensor that detects the position of the transport tray 11, and the host system 300 may display the position of the transport tray 11.
  • the upper system 300 is configured using, for example, a computer such as a personal computer (PC) or an EWS (engineering workstation).
  • the control device 200 and the host system 300 may be integrally configured.
  • the control device 200 is configured using, for example, a computer such as a personal computer or an EWS.
  • the control device 200 may be stored in the transport unit 20.
  • the transport units 20 provided in each control device 200 may be electrically connected in a series connection or may be communicably connected.
  • the control device 200 is configured using a computer such as a microcomputer (Microcomputer), for example.
  • the control device 200 may be configured as hardware dedicated to control of the transport unit 20 by using an application specific integrated circuit (ASIC) or the like.
  • ASIC application specific integrated circuit
  • FIG. 2 is a diagram showing an entire configuration of the drive device 101.
  • the transport tray 11 can be loaded with the transported object (not shown) in the storage section 11A on the upper surface. Further, on the lower surface of the transport tray 11, a flat gear 12 in which teeth 12A are arranged in a predetermined direction is provided.
  • FIGS. 3A and 3B schematically show an example of the outer shape of the transport tray 11.
  • FIG. 3A shows a perspective view of the transport tray 11 as viewed obliquely from above, and a perspective view of the shape of the teeth of a flat gear (two-dimensional rack (Rack) gear) provided on the bottom surface of the transport tray 11.
  • FIG. 3B shows the shape of the teeth of the flat gear provided on the bottom surface of the transport tray 11 as viewed from the bottom side of the transport tray 11.
  • the teeth 12A of the flat gear 12 are arranged in a matrix along directions of arrows ( ⁇ ) and arrows ( ⁇ ) orthogonal to each other, as shown in FIG. 3A. Further, the teeth 12A of the plane gear 12 are formed in a quadrangular pyramid having a small flat tooth tip 12B at the tip end as a whole.
  • the row of teeth 12A 'located on the outer peripheral portion is chamfered by chamfering the corner portion of the slope forming the quadrangular pyramid. This chamfering is performed to reduce the contact when the drive gears (pinion gears) 13 and 14 mesh with each other, and chamfering of the quadrangular pyramid slope centering on one corner of the tooth top 12B It is a process.
  • the transport tray 11 is transported in the arrow ( ⁇ ) direction or the arrow ( ⁇ ) direction, which is a predetermined transport direction, by a plurality of transport units 20 having drive gears 13 and 14 whose rotational directions are different from each other.
  • a conveyance surface horizontal to the arrow ( ⁇ ) direction or the arrow ( ⁇ ) direction, which is a predetermined conveyance direction, is formed on the support plate 22 (see FIG. 5) of the conveyance unit 20.
  • the transport tray 11 is horizontally transferred through the transport surface.
  • a plurality of transport units 20 are arranged adjacent to each other in a matrix along a predetermined transport direction (arrow ( ⁇ ) and arrow ( ⁇ ) directions).
  • the drive gears 13 and 14 provided in each of the transport units 20 mesh with the flat gear 12 on the transport tray 11 to transmit power, thereby moving the transport tray 11 in the arrow ( ⁇ ) or arrow ( ⁇ ) direction.
  • Transport The drive gear 13 corresponds to an example of a first pinion gear.
  • the drive gear 14 corresponds to an example of a second pinion gear.
  • the drive gear 13 and the drive gear 14 can be operated simultaneously, which allows the transport tray 11 to be transported obliquely with respect to the arrow ( ⁇ ) and the arrow ( ⁇ ).
  • FIG. 4 is a view showing a configuration example of the transport unit 20 in a perspective view.
  • FIG. 5 is a view showing an example of the inside of the transport unit 20 as viewed in the direction of the arrow V in FIG.
  • FIG. 6 is a view showing an example in which the inside of the transport unit 20 is viewed from the direction of the arrow VI in FIG.
  • Each transport unit 20 includes a base 21 as a base, and a support plate 22 horizontally provided on the base 21 and having four openings 22A at each edge thereof.
  • Each transport unit 20 further includes drive gears 13 and 14 rotatably supported by the pedestal 21 about the rotation shafts 13A and 14A, and drive mechanisms 23 and 24 for rotationally driving the drive gears 13 and 14, respectively. Do.
  • the driving gear 13 is rotatably supported centering on a rotation shaft 13A along the direction of the arrow ( ⁇ ), and two sets of the driving gear 13 are arranged at intervals in the direction of the arrow ( ⁇ ) in the transport unit 20. .
  • Each set of drive gears 13 has a pair of small gears 13B. The upper portions of the pair of small gears 13B are exposed from the openings 22A of the support plate 22 and mesh with the flat gear 12 of the transport tray 11 to transport the transport tray 11 in the arrow ( ⁇ ) direction.
  • the drive mechanism 23 is disposed below the transport unit 20 as shown in FIG. 5 and includes a drive motor 25 and a conductive gear for transmitting the power of the drive motor 25 to the drive gear 13.
  • a pulley 26 and a belt 28 are provided.
  • each set of drive gears 14 has a pair of small gears 14B.
  • the upper portions of the pair of small gears 14B are exposed from the openings 22A of the support plate 22 and mesh with the flat gear 12 of the transfer tray 11 to transfer the transfer tray 11 in the arrow ( ⁇ ) direction.
  • the drive mechanism 24 is disposed immediately below the support plate 22 as shown in FIG. 6, and includes a drive motor 29 and a conductive gear for transmitting the power of the drive motor 29 to the drive gear 14.
  • a pulley 31 and a belt 32 are provided.
  • the transport tray 11 on the support plate 22 can be transported in the direction of the arrow ( ⁇ ) or the arrow ( ⁇ ) through the drive gears 13 and 14 and the flat gear 12 meshing with these. Furthermore, by driving the drive mechanisms 23 and 24 simultaneously, the drive gears 13 and 14 can be rotationally driven simultaneously. As a result, the transport tray 11 on the support plate 22 can be transported in a direction oblique to the arrow ( ⁇ ) and the arrow ( ⁇ ) through the drive gears 13 and 14 and the flat gear 12 meshing with these.
  • FIG. 7 is a view showing an example of meshing of the teeth of the flat gear 12 and the teeth of the drive gear 13.
  • the meshing of the teeth of the flat gear 12 and the teeth of the drive gear 14 is the same.
  • the transport unit 20 as shown in FIG. 7, when the transport tray 11 is transported in the direction of the arrow (.alpha.) Or the arrow (.beta.)
  • flat teeth of the flat gear 12 are obtained.
  • the tip indicated by reference numeral 12 B
  • the transport tray 11 is guided in the arrow ( ⁇ ) or arrow ( ⁇ ) direction.
  • FIG. 8 is a diagram showing a first example in which the transfer system 100 is applied to a factory line.
  • eight transport units 20 constitute a line.
  • Working robots 911 and 912 are arranged on this line. Further, the flow of the transport tray 11 is indicated by the arrow in FIG.
  • a work target an apparatus to be assembled, etc.
  • the work robots 911 and 912 perform work such as attaching parts to the work target.
  • the work robot 912 performs work at each of the timings before and after the work of the work robot 911.
  • the work target flows in one direction. Therefore, the work robot 912 is required before and after the work robot 911, and the equipment cost for two work robots 912 is required.
  • the work target is moved to the vicinity of one work robot 912 at each of two times when the work robot 912 performs work, and this work robot 912 performs work. be able to. Therefore, in the line shown in FIG. 8, only one work robot 912 may be provided, and the facility cost can be suppressed at this point.
  • the flow of the transfer tray 11 by changing the flow of the transfer tray 11, it is possible to cope with the change in the number of times of work and the work timing of the work robot without changing the arrangement of the work robot.
  • the path of the transfer tray 11 may be changed to a path passing near the work robot in this order.
  • the transfer system 100 is suitable for use in a transfer system requiring accuracy, such as a production line in which work robots and the like are disposed and constructed.
  • FIG. 9 is a view showing a second example in which the transfer system 100 is applied to a factory line.
  • ten conveyance units 20 constitute a line.
  • two workers and the work robot 913 work in cooperation with each other.
  • the flow of the transfer tray 11 is indicated by a solid arrow, and the work range of the work robot 913 is indicated by a broken arrow.
  • the width of the line is wide by arranging the two transport units 20 in the width direction of the line. Further, looking at the downstream side from the upstream side (upper side in FIG. 8) of the line, the worker is positioned on the right side of the line, and the work robot 913 is positioned on the left side of the line. In this way, the width of the line is wide, and the worker and the work robot 913 are located on the opposite side of the line, so that the work range of the worker and the work range of the work robot 913 do not overlap. It has become. In this way, it is possible to avoid the danger of a person colliding with the work robot 913 or the like, and the safety of the worker can be secured in this respect.
  • the transport unit 20 can move the transport tray 11 freely, construction of the line of FIG. 9 is possible.
  • the transport unit 20 moves the transport tray 11 (with the work target placed thereon) between the worker and the work robot, the direction from the upstream to the downstream of the line (FIG. 9 from top to bottom) It is possible to move not only in the direction) but also in the width direction of the line (the left and right direction in FIG. 9). This makes it possible to increase the width of the line.
  • FIG. 10 is a diagram showing a first example of storage of stored items in a warehouse using the transfer system 100. As shown in FIG. FIG. 10 shows an example of arrangement of stored items in a state before taking out an article.
  • 30 transport units 20 are arranged in 5 rows ⁇ 6 columns.
  • One of the transport trays 11 is positioned in each of the 23 transport units 20 among these, and the storage items are placed on the respective transport trays 11.
  • the transfer system 100 moves the transport tray 11 on which the stored items to be taken out are placed to the transfer unit 20 in the lower right corner toward the side in FIG. Hand over to the requester). It is also possible to arrange the stored items with high removal frequency at the lower side of FIG. 10 (closer to the delivery place). Here, it is assumed that there is a request for taking out the stored item on which the transport tray 11 positioned in the area A11 is placed.
  • FIG. 11 is a diagram showing a second example of storage of stored items in a warehouse using the transfer system 100.
  • positioning of the storage thing in the state after taking out an article from the state of FIG. 10 is shown.
  • the transport tray 11 in the moving path is broken. Is moving along the arrow.
  • the transport tray 11 in the movement path may be moved to secure the movement path, and it is necessary to prepare the passage in advance. Absent.
  • the transport unit 20 can move the transport tray 11 freely, it is possible to arrange the storage items shown in FIGS. 10 and 11.
  • the transport unit 20 can move the transport tray 11 in both vertical and horizontal directions in FIGS. 10 and 11. As a result, it is possible to store a lot of things by efficiently using the space in the warehouse, and to secure the movement path when actually moving the transport tray 11.
  • FIG. 12 is a diagram showing a first example in which the transport system 100 is applied to a restaurant.
  • a restaurant such as a sushi roll
  • food is transported from the kitchen to the seating area, and the transport unit 20 is arranged between the kitchen and the seating area in order to recover used dishes. It is arranged.
  • an example of the flow of the transport tray 11 is indicated by an arrow.
  • the row of the transport units 20 in the row L11 is configured as a lane for food and drink distribution from the kitchen to the customer seat.
  • the row of the transport units 20 in the row L12 is configured as a lane for returning dishes and the like from the customer seat to the kitchen.
  • the transfer system 100 it is possible to form lanes in multiple directions, and both the arrangement of food and drink and collection of vacant dishes and the like can be performed by the transfer system 100.
  • operation or stop can be controlled for each conveyance unit 20. For this reason, for example, when the transport tray 11 crosses the laying lane (row L11) when returning the dishes from the customer seat, the transport tray 11 is temporarily stopped to smooth the transport. Can be transported to In addition, since the transport system 100 transports individual seating and food items from the kitchen, it is possible to avoid taking an error in the order items, unlike the case where the customers take the order items flowing through the lanes.
  • FIG. 13 is a diagram showing a second example in which the transport system 100 is applied to a restaurant.
  • the arrangement of the transport unit 20 in the example of FIG. 13 is the same as that of FIG.
  • three types of transport trays 11 are used: a transport tray 11 larger than that of FIG. 12, a transport tray 11 of the same size as that of FIG. 12, and a transport tray 11 smaller than that of FIG. 12. Differs from the example of FIG. As described above, in the transport system 100, the transport trays 11 having different sizes can be mixed.
  • transport tray 11 When the transport tray 11 protrudes from the width of one lane, such transport tray 11 can be made to flow by operating two lanes of the row L11 and the row L12 in the same direction temporarily.
  • the lanes of the row L12 are operated in the reverse direction to the normal direction (the same direction as the row L11).
  • the lane of the row L11 In the case of return of dishes and the like, the lane of the row L11 is operated in the reverse direction to the normal direction (the same direction as the row L12).
  • the size of the transport tray 11 may be smaller than the size of the upper surface of the transport unit 20.
  • the length in the direction of ( ⁇ ) in FIG. 2 is longer than the distance between the drive gears 13 and the length in the direction of ( ⁇ ) is the distance between the drive gears 14. It should be longer than that.
  • the teeth of the one or more drive gears 13 and the teeth of the one or more drive gears 14 are always meshed with the teeth of the flat gear 12, and the transport tray 11 is in the direction of (.alpha.), (.Beta.) It can be moved in any of the directions.
  • the flat gear 12 can be mass-produced inexpensively by injection molding or the like. Since the flat gears 12 can be mass-produced inexpensively, for example, it is possible to replace all the trays on which the dishes have been placed with the conventional rotary sushi with the transport tray 11 and to apply it to the transport system 100.
  • FIG. 14 is a view showing a schematic configuration of the transport units 20 arranged side by side.
  • the transport tray 11 and two transport units 20 transport units 20-1 and 20-2) arranged side by side are shown.
  • FIG. 14 shows a configuration example of the inside of the transport unit 20 when the side surface of the transport unit 20 is viewed from the front side of the arrow ( ⁇ ) in FIG.
  • one drive motor 25 and two drive gears 13 of the components of the transport unit 20 are shown for each transport unit 20.
  • two belts 28 for transmitting power from the drive motor 25 to each of the drive gears 13 are shown.
  • the two drive motors 25 are denoted by reference numerals 25-1 and 25-2 to distinguish them.
  • hyphens (-) and serial numbers (1, 2, 3,...) Are added to the symbols of the drive motors 25 of the transport units 20 arranged side by side, The motor 25 is distinguished.
  • the four drive gears 13 are denoted by reference numerals 13-11, 13-12, 13-21 and 13-22 to distinguish them.
  • the distance L1 indicates the distance between the drive gears 13-11 and 13-12.
  • the distance L2 indicates the distance between the drive gears 13-12 and 13-21.
  • the distance L3 indicates the distance between the drive gears 13-21 and 13-22.
  • the length of the flat gear 12 in the direction of the arrow A may be longer than any of the distances L1, L2, and L3.
  • at least one or more teeth of the drive gears 13-11, 13-12, 13-21, 13-22 mesh with the teeth of the flat gear 12, and the transport tray 11 is moved in the direction of arrow A (or the reverse Direction) can be moved.
  • the drive motor 29, the drive gear 14 and the belt 32 are the same as those described with reference to FIG. Also, in the following, the case where a stepping motor is used as the drive motors 25 and 29 will be described as an example. By using stepping motors as the drive motors 25 and 29, it is possible to synchronize the phases (synchronization of the rotation angles) with high accuracy with a plurality of drive motors.
  • FIG. 15 is a diagram showing an example of a hardware configuration for controlling the drive motor in the control device 200.
  • the control device 200 includes a microcontroller 201, an AND circuit 202 for each drive motor 25, and a motor driver IC 203.
  • the microcontroller 201 generates and outputs a pulse signal STEP common to each drive motor 25 and enable signals EN 1, EN 2, EN 3,... For each drive motor 25.
  • the pulse signal STEP is not supplied to the motor driver IC 203.
  • the motor driver IC 203 stops the drive motor 25-i.
  • the control device 200 performs control similar to that of the drive motor 25 for each of the drive motors 29 as well.
  • One microcontroller 201 can be used in common to the drive motor 25 and the drive motor 29.
  • the pulse signal STEP common to the drive motor 25 and the drive motor 29 is used, and the phases of the drive motor 25 and the drive motor 29 can be easily synchronized.
  • the transport tray 11 By synchronizing the phases of the drive motor 25 and the drive motor 29 and rotating the transport tray 11 at the same rotational speed, the transport tray 11 is inclined 45 degrees with respect to either the rotational shaft of the drive motor 25 or the rotational shaft of the drive motor 29. Can be moved in the direction of That is, the transport tray 11 can be moved in the direction of 45 degrees with respect to the direction in which the transport units 20 are arranged.
  • the hardware cost of the control device 200 is small in that the number of the microcontroller 201 provided in the control device 200 may be one.
  • a microcontroller 201 different from the microcontroller 201 for the drive motor 25 may be used as the microcontroller 201 for the drive motor 29.
  • separate pulse signals STEP are used for the drive motor 25 and the drive motor 29, and it is easy to rotate the drive motor 25 and the drive motor 29 at different rotational speeds.
  • the microcontroller 201 different from the microcontroller 201 for the drive motor 25 may be used as the microcontroller 201 for the drive motor 29. . Thereby, the drive motor 25 and the drive motor 29 can be moved separately.
  • the control device 200 controls acceleration and deceleration of the drive motors 25 and 29 when operating the transport tray 11 on which the transported objects are placed, so that the drive motors 25 and 29 are out of step with the weight of the transported objects. To prevent. As described later, the controller 200 gradually increases the rotational speed when activating the drive motor 25 or 29. In addition, when stopping the drive motor 25 or 29, the control device 200 gradually reduces the rotational speed. Thus, the control device 200 controls the drive motors 25 and 29 so that the speed of the transport tray 11 does not change suddenly.
  • planar gear 12 is engaged with the drive gear 13 in both of the transport unit 20 on the delivery side of the transport tray 11 and the transport unit 20 on the side of receiving the transport tray 11.
  • the drive gear 13 of the transport unit 20 on the delivery side of the transport tray 11 rotates at a constant speed, and the drive gear 13 of the transport unit 20 on the side of receiving the transport tray 11 is accelerating, The phase is not synchronized, and a load is imposed on the drive motor 25.
  • the drive motors 25 and the drive motors 29 rotate in synchronization with each other under the control of the control device 200.
  • the drive gears 13 and 14 rotate in synchronization with each other.
  • the microcontroller 201 can control the drive motors 25 and 29 with a relatively simple process such as activating the enable signal for the drive motors 25 and 29 that have been operated.
  • the operation of the transport system 100 will be described by taking the case where the transport tray 11 is moved from the transport unit 20-1 to the transport unit 20-2 in the direction of the arrow A in FIG.
  • the microcontroller 201 simultaneously activates the enable signals En1 and EN2 to drive the drive motor 25-1 and Rotate 25-2 simultaneously.
  • the drive motor 25-1 and 25-2 moves while the transport tray 11 moves by the distance L1 and the front end of the flat gear 12 located in the drive gear 13-12 gets on the drive gear 13-21. Complete the acceleration.
  • the drive motor 25- is operated while the tip of the flat gear 12 is engaged with the drive gear 13-21. Complete the acceleration of 2. Thereby, the phases of the drive motors 25-1 and 25-2 can be synchronized.
  • the control device 200 synchronizes the drive motors 25-1 and 25-2 and rotates at a constant speed. After the rear end of the flat gear 12 passes the drive gear 13-12, the controller 200 decelerates the drive motors 25-1 and 25-2. As described above, the drive unit 25-1 and 25-2 are simultaneously driven by using the transport unit 20-1 on the delivery side of the transport tray 11 and the transport unit 20-2 on the receiving side as one set. By doing this, the drive gears 13-11, 13-12, 13-21 and 13-22 can be synchronized. In particular, the drive gears 13-12 and 13-21 can be synchronized, and delivery of the transport tray 11 can be smoothly performed between the transport units 20-1 and 20-2.
  • a sensor for detecting the position of the flat gear 12 (or the position of the transport tray 11) is provided.
  • an optical reflection sensor may be used as such a sensor, it is not limited to a specific type of sensor.
  • the light emitting unit and the light receiving unit of the optical reflection sensor are installed in pairs upward in the inside of the transport unit 20.
  • the transport tray 11 is in contact with the optical reflection sensor, the light emitted from the light emitting unit is reflected by the transport tray 11.
  • the light receiving unit receives the reflected light, current flows in the light receiving unit.
  • the transport tray 11 does not cover the optical reflection sensor, the light emitted from the light emitting unit is not reflected, and the light receiving unit does not receive this light. Therefore, no current flows in the light receiving unit.
  • the presence or absence of the conveyance tray 11 is converted into an electric signal according to the presence or absence of the current of the light receiving unit, and the presence or absence of the conveyance tray 11 can be detected.
  • the bottom surface of the transport tray 11 may be coated with a paint or the like so that only the portion of the bottom gear 12 reflects light.
  • a sensor such as an optical reflection sensor may detect the position of the transport tray 11, and the control device 200 may calculate the position of the planar gear based on the positional relationship between the transport tray 11 and the planar gear 12. .
  • the control device 200 determines the current position of the transfer tray 11 based on the initial position of the transfer tray 11 (or the initial position of the flat gear 12) and the rotation angle of the drive motors 25 and 29. (Or the current position of the flat gear 12) may be calculated.
  • the control device 200 can control the conveyance unit 20 to move the plurality of conveyance trays 11 without collision. For example, when the control device 200 transfers the transport tray 11 between the two transport units 20, the transport tray 20 on the receiving side transport tray 11 (a transport tray 11 different from the transport tray 11 to be delivered) Determine if there is.
  • control device 200 If it is determined that there is no transport tray 11 in the transport unit 20 on the receiving side, the control device 200 operates two transport units 20 for delivering the transport tray 11 in synchronization as one set, and the transport tray 11 Can be made to On the other hand, when it is determined that there is no transport tray 11 in the transport unit 20 on the receiving side, the control device 200 stops the transport unit 20 on the transfer side of the transport tray 11 and transfers the transport tray 11 in the transport unit 20 on the receiving side. Move ahead. Thereby, the collision of the conveyance trays 11 can be prevented.
  • FIG. 16 is a view showing a first example of delivery of the transport tray 11 between the transport units 20. As shown in FIG. In FIG. 16, three transport units 20 are shown. The symbols TBn, TBn + 1, and TBn + 2 are added in order from the transport unit 20 on the left side in FIG. 16 to distinguish them.
  • FIG. 16 shows an example in the case of delivering the transport tray 11 from the transport unit TBn to the transport unit TBn + 1 as a set (SET 1) of the transport unit TBn and the transport unit TBn + 1 in time series.
  • the upper side of FIG. 16 shows the state in the past time.
  • the entire transport tray 11 is located above the transport unit TBn and is not applied to the transport unit TBn + 1.
  • the tip of the flat gear 12 reaches the drive gear 13 of the transport unit TBn + 1.
  • the rear end of the flat gear 12 is disengaged from the drive gear 13 of the transport unit TBn.
  • the entire transport tray 11 is located on the transport unit TBn + 1, and is in the target state in this delivery.
  • the time from the state shown at the top to the second state shown from the top is denoted as STEP 1.
  • the drive motors 25 of both the transport units TBn and TBn + 1 are activated to increase the rotational speed.
  • the time from the state shown second from the top to the state shown third from the top is described as STEP2.
  • the drive motors 25 of both the transport units TBn and TBn + 1 are rotated at a constant speed.
  • the time from the state shown third from the top to the state shown at the bottom is denoted as STEP 3.
  • both drive motors 25 of the transport units TBn and TBn + 1 are decelerated and stopped.
  • FIG. 17 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG.
  • the horizontal axis of the graph of FIG. 17 shows time.
  • Pulse number indicates the number of pulses per unit time in the pulse signal STEP. As described above, this pulse number indicates the command value of the rotational speed of the drive motor.
  • Enable signals (TBn, Mx)” indicate values of enable signals for controlling the drive motor 25 of the transport unit TBn.
  • Mx indicates a drive motor whose rotation direction is the x-axis direction. The x-axis here is the direction of the arrow ( ⁇ ) in FIG. 2, and Mx indicates the drive motor 25.
  • Enable signal (TBn + 1, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1.
  • the enable signals (TBn and Mx) and the enable signals (TBn + 1 and Mx) are both enabled in STEP1 to STEP3.
  • the drive motor 25 of the transport unit TBn and the drive motor 25 of the transport unit TBn + 1 are controlled to be synchronized as one set.
  • the number of pulses per unit time in the pulse signal STEP increases.
  • the motor driver IC 203 increases the rotational speed of the drive motor 25 of each of the transport units TBn and TBn + 1.
  • the number of pulses per unit time in the pulse signal STEP is constant.
  • the motor driver IC 203 rotates the drive motor 25 of each of the transport units TBn and TBn + 1 at a constant speed.
  • the number of pulses per unit time in the pulse signal STEP decreases.
  • the motor driver IC 203 reduces the rotational speed of the drive motor 25 of each of the transport units TBn and TBn + 1.
  • the control device 200 determines whether or not the transport tray 11 is present in the transport unit TBn + 1, and when it is determined that the transport tray 11 is not present, the processing of FIGS. 16 and 17 is performed.
  • FIG. 18 is a view showing a second example of delivery of the transport tray 11 between the transport units 20. As shown in FIG. In FIG. 18, three transport units 20 are shown. As in the case of FIG. 16, the symbols TBn, TBn + 1, and TBn + 2 are added to distinguish them. FIG. 18 shows an example in which the transport tray 11 is moved from the transport unit TBn to the transport unit TBn + 2. Here, after delivering the transport tray 11 with the transport unit TBn and the transport unit TBn + 1 as one set (SET 1), delivery of the transport tray 11 with the transport unit TBn + 1 and the transport unit TBn + 2 as one set (SET 2) I do.
  • SET 1 one set
  • SET 2 delivery of the transport tray 11 with the transport unit TBn + 1 and the transport unit TBn + 2 as one set
  • FIG. 19 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG.
  • the horizontal axis of the graph of FIG. 19 shows time.
  • Pulse number indicates the number of pulses per unit time in the pulse signal STEP.
  • Enable signals (TBn, Mx)” indicate values of enable signals for controlling the drive motor 25 of the transport unit TBn.
  • Enable signal (TBn + 1, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1.
  • Enable signal (TBn + 2, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.
  • the transport trays 11 are delivered by setting the transport units TBn and TBn + 1 as one set (SET 1) and activating the enable signal for controlling the two drive motors 25.
  • the enable signal for controlling these two drive motors 25 is activated to deliver the transport tray 11.
  • the drive motor 25 is started in STEP 1 to increase the rotational speed
  • the drive motor 25 is rotated at constant speed in STEP 1 and the rotational speed of the drive motor is decreased in STEP 3 It is stopped.
  • the control device 200 determines whether or not the transport tray 11 is present in the transport unit TBn + 1. When it is determined that the transport tray 11 is not present, the control device 200 delivers the transport tray 11 from the transport unit TBn to the transport unit TBn + 1. Thereafter, the control device 200 determines whether or not the transport tray 11 is present in the transport unit TBn + 2. When it is determined that the transport tray 11 is not present, the control device 200 delivers the transport tray 11 from the transport unit TBn + 1 to the transport unit TBn + 2.
  • FIG. 20 is a view showing a third example of delivery of the transport tray 11 between the transport units 20.
  • FIG. 18 in that in FIG. 20 three transport units 20 (transport units TBn, TBn + 1, TBn + 2) are shown, and in that the transport tray 11 is moved from transport unit TBn to transport unit TBn + 2. It is similar.
  • FIG. 20 differs from the case of FIG. 18 in the setting of the transport unit set.
  • each of the transport units TBn and TBn + 1 and the transport units TBn + 1 and TBn + 2 is one set.
  • three units of transport units TBn, TBn + 1 and TBn + 2 are set as one set (SET 1).
  • FIG. 21 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG. The horizontal axis of the graph of FIG. 21 shows time.
  • Pulse number indicates the number of pulses per unit time in the pulse signal STEP.
  • Enable signals (TBn, Mx)” indicate values of enable signals for controlling the drive motor 25 of the transport unit TBn.
  • Enable signal (TBn + 1, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1.
  • Enable signal (TBn + 2, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.
  • the transport tray 11 is delivered with the enable signals for controlling the three drive motors 25 active.
  • these three drive motors 25 are activated to increase the rotational speed, and in STEP 2, the motor is rotated at a constant speed, and in STEP 3 the rotational speed is reduced and stopped.
  • the transport tray 11 reaches the transport unit TBn + 2 from the transport unit TBn via the transport unit TBn + 1.
  • the control device 200 determines whether or not the transport trays 11 exist in the transport units TBn + 1 and TBn + 2, and when it is determined that the transport trays 11 do not exist in any of the transport units 20, the processing of FIGS. .
  • FIG. 22 is a view showing a fourth example of delivery of the transport tray 11 between the transport units 20. As shown in FIG. In the case of FIG. 16 in that in FIG. 22 three transport units 20 (transport units TBn, TBn + 1, TBn + 2) are shown, and in that the transport tray 11 is delivered from transport unit TBn to transport unit TBn + 1. It is similar. Also, STEP1, STEP2 and STEP3 are the same as in the case of FIG.
  • FIG. 22 is different from the case of FIG. 16 in that the transport tray 11 is further transferred from the transport unit TBn + 1 to the transport unit TBn + 2.
  • the transport tray 11 delivered from the transport unit TBn to the transport unit TBn + 1 is assigned the code P1
  • the transport tray 11 delivered from the transport unit TBn + 1 to the transport unit TBn + 2 is assigned the code P2 to distinguish them.
  • the transport units TBn and TBn + 1 related to the delivery of the transport tray P1 are set as one set (SET 1)
  • the transport units TBn + 1 and TBn + 2 related to the delivery of the transport tray P2 are another set (SET 2).
  • FIG. 23 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG.
  • the horizontal axis of the graph of FIG. 23 shows time.
  • Pulse number indicates the number of pulses per unit time in the pulse signal STEP.
  • Enable signals (TBn, Mx)” indicate values of enable signals for controlling the drive motor 25 of the transport unit TBn.
  • Enable signal (TBn + 1, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1.
  • Enable signal (TBn + 2, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.
  • enable signals for controlling the three drive motors 25 of the transport units TBn, TBn + 1 and TBn + 2 are activated, and delivery of the two transport trays 11 is performed simultaneously.
  • the output of the pulse signal STEP (pulse signal) is the same as in the case of FIG.
  • the three transport units and the two transport trays have the same specifications. If the two transport trays are moved at the same speed, the timing at which the front end of the plane gear 12 is applied to the drive gear 13 and the timing at which the rear end of the plane gear 12 disengages from the drive gear 13 are also the same. Therefore, the timings of STEP 1 to STEP 3 in the delivery of the transport tray P 1 are the same in the delivery of the transport tray P 2.
  • the control device 200 determines whether or not the transport tray 11 is present in the transport unit TBn + 2, and when it is determined that the transport tray 11 is not present, the processing of FIGS. 22 and 23 is performed.
  • FIG. 24 is a view showing a fifth example of delivery of the transport tray 11 between the transport units 20. As shown in FIG. FIG. 24 shows an example of processing for changing the direction when the transport tray 11 reaches a corner of a lane.
  • five transport units 20 are shown.
  • the symbols TBn, TBn + 1, and TBn + 2 are added to distinguish them.
  • the lower two transport units 20 are given symbols of TBn + 3 and TBn + 4 in order from the right to distinguish them.
  • the two conveyance trays are given reference numerals P1 and P2 to distinguish them.
  • FIG. 24 an example of delivery of the transport tray 11 between the transport units 20 is shown in time series.
  • the upper side of FIG. 24 shows the state in the past time.
  • the transport tray P1 is positioned at the transport unit TBn
  • the transport tray P2 is positioned at the transport unit TBn + 1.
  • the transport tray P1 is delivered from the transport unit TBn to the transport unit TBn + 1
  • the transport tray P1 is delivered from the transport unit TBn + 1 to the transport unit TBn + 2, which is the second state from the top in FIG.
  • the transport units TBn and TBn + 1 are set as one set (SET1)
  • the transport units TBn + 1 and TBn + 2 are configured as one set (SET2).
  • the transport tray P1 is positioned at the transport unit TBn + 1, and the transport tray P2 is positioned at the transport unit TBn + 2. From this state, the transfer tray P2 is transferred from the transfer unit TBn + 2 to the transfer unit TBn + 3, and the third state from the top is obtained. In this delivery, the transport units TBn + 2 and TBn + 3 are set as one set (SET3).
  • the transport tray P1 is positioned at the transport unit TBn + 1, and the transport tray P2 is positioned at the transport unit TBn + 3. From this state, the transport tray P1 is delivered from the transport unit TBn + 1 to the transport unit TBn + 2, and the transport tray P2 is delivered from the transport unit TBn + 3 to the transport unit TBn + 4, as shown at the bottom. In this delivery, the transport units TBn + 1 and TBn + 2 are made into one set (SET 4), and the transport units TBn + 3 and TBn + 4 are made into one set (SET 5). In the state shown at the bottom of FIG. 24, the transport tray P1 is located at the transport unit TBn + 2, and the transport tray P2 is located at the transport unit TBn + 4.
  • FIG. 25 is a diagram showing an example of an output signal from the microcontroller 201 in a change from the state shown at the top in the example of FIG. 24 to the state shown second from the top.
  • the horizontal axis of the graph of FIG. 25 shows time.
  • the “number of pulses”, “enable signal (TBn, Mx)”, “enable signal (TBn + 1, Mx)”, and “enable signal (TBn + 2, Mx)” are the same as in the case of FIG.
  • FIG. 25 further shows the rotational direction of the drive motor.
  • the “rotation direction (TBn, Mx)” indicates the rotation direction of the drive motor 25 of the transport unit TBn.
  • the “rotation direction (TBn + 1, Mx)” indicates the rotation direction of the drive motor 25 of the transport unit TBn + 1.
  • the “rotation direction (TBn + 2, Mx)” indicates the rotation direction of the drive motor 25 of the transport unit TBn + 2.
  • the rotational direction of the drive motor is indicated by two values. When the value is high, it means plus (+) direction. The case of low means the negative (-) direction.
  • the positive direction is a rotational direction for moving the transport tray 11 in the positive direction shown in FIG.
  • the negative direction is a rotational direction in which the transport tray 11 is moved in the negative direction shown in FIG.
  • all of the three drive motors rotate in the positive direction. This point is also similar to the case of FIG.
  • FIG. 26 is a diagram showing an example of an output signal from the microcontroller 201 in a change from the state shown second from the top in the example of FIG. 24 to the state shown third from the top.
  • the horizontal axis of the graph of FIG. 26 shows time.
  • Pulse number indicates the number of pulses per unit time in the pulse signal STEP.
  • the drive motor is started to increase the number of rotations in STEP 1 and the drive motor is rotated at a constant speed in STEP 2 and the number of rotations of the drive motor is reduced in STEP 3 and stopped.
  • Enable signal (TBn + 2, My) indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 2.
  • My indicates a drive motor whose rotation direction is the y-axis direction. The y-axis here is the direction of the arrow ( ⁇ ) in FIG. 2 and My indicates the drive motor 29.
  • Enable signal (TBn + 3, My) indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 3.
  • the “rotation direction (TBn + 2, My)” indicates the rotation direction of the drive motor 29 of the transport unit TBn + 2.
  • the “rotation direction (TBn + 3, My)” indicates the rotation direction of the drive motor 29 of the transport unit TBn + 3.
  • FIG. 27 is a diagram showing an example of an output signal from the microcontroller 201 in a change from the state shown third from the top in the example of FIG. 24 to the state shown at the bottom.
  • the horizontal axis of the graph of FIG. 27 shows time.
  • Pulse number indicates the number of pulses per unit time in the pulse signal STEP.
  • the drive motor is started to increase the number of rotations in STEP 1 and the drive motor is rotated at a constant speed in STEP 2 and the number of rotations of the drive motor is decreased in STEP 3 and stopped.
  • Enable signal (TBn + 1, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1.
  • Enable signal (TBn + 2, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.
  • Enable signal (TBn + 3, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 3.
  • Enable signal (TBn + 4, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 4.
  • the rotational direction (TBn + 1, Mx) indicates the rotational direction of the drive motor 25 of the transport unit TBn + 1.
  • the rotational direction (TBn + 2, Mx) indicates the rotational direction of the drive motor 25 of the transport unit TBn + 2. These rotational directions are positive in accordance with the moving direction of the transport tray P1 in FIG.
  • the rotational direction (TBn + 3, Mx) indicates the rotational direction of the drive motor 25 of the transport unit TBn + 3.
  • the rotational direction (TBn + 4, Mx) indicates the rotational direction of the drive motor 25 of the transport unit TBn + 4. These rotational directions are negative according to the moving direction of the transport tray P2 in FIG.
  • FIG. 28 is a view showing a sixth example of delivery of the transport tray 11 between the transport units 20.
  • FIG. 28 shows five transport units 20 (transport units TBn, TBn + 1, TBn + 2, TBn + 3 and TBn + 4) and two transport trays 11 (transport trays P1 and P2).
  • the transport tray P1 is not moved, and the transport tray P2 is diagonally moved from the transport unit TBn + 4 to the transport unit TBn + 2. This movement is performed with the transport units TBn + 1, TBn + 2, TBn + 3 and TBn + 4 as one set (SET 1).
  • FIG. 29 is a diagram showing an example of an output signal from the microcontroller 201 in the example of FIG.
  • the horizontal axis of the graph of FIG. 29 shows time.
  • Pulse number indicates the number of pulses per unit time in the pulse signal STEP.
  • the drive motor is started in STEP 1 to increase the rotational speed, and in STEP 2 the drive motor is rotated at a constant speed, and in STEP 3 the rotational speed of the drive motor is decreased and stopped.
  • Enable signal (TBn + 1, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 1.
  • Enable signal (TBn + 1, My) indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 1.
  • Enable signal (TBn + 2, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 2.
  • Enable signal (TBn + 2, My) indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 2.
  • Enable signal (TBn + 3, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 3.
  • Enable signal (TBn + 3, My) indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 3.
  • Enable signal (TBn + 4, Mx) indicates the value of the enable signal for controlling the drive motor 25 of the transport unit TBn + 4.
  • Enable signal (TBn + 4, My) indicates the value of the enable signal for controlling the drive motor 29 of the transport unit TBn + 4.
  • the transport trays TBn + 1 to TBn + 4 are made into one set, and the transport tray P2 is moved diagonally. To that end, the microcontroller 201 activates the enable signal for each of the drive motors 25 and 29 of the four transport units 20.
  • the “rotation direction (TBn + 1, Mx)” indicates the rotation direction of the drive motor 25 of the transport unit TBn + 1.
  • the “rotation direction (TBn + 1, My)” indicates the rotation direction of the drive motor 29 of the transport unit TBn + 1.
  • the “rotation direction (TBn + 2, Mx)” indicates the rotation direction of the drive motor 25 of the transport unit TBn + 2.
  • the “rotation direction (TBn + 2, My)” indicates the rotation direction of the drive motor 29 of the transport unit TBn + 2.
  • the “rotation direction (TBn + 3, Mx)” indicates the rotation direction of the drive motor 25 of the transport unit TBn + 3.
  • the “rotation direction (TBn + 3, My)” indicates the rotation direction of the drive motor 29 of the transport unit TBn + 3.
  • the “rotation direction (TBn + 4, Mx)” indicates the rotation direction of the drive motor 25 of the transport unit TBn + 4.
  • the “rotation direction (TBn + 4, My)” indicates the rotation direction of the drive motor 29 of the transport unit TBn + 4.
  • the flat gear 12 is provided on the bottom surface of the transport tray 11 with the teeth directed downward.
  • the drive gears 13 and 14 mesh with the plane gear 12 to transmit power, respectively.
  • the drive gears 13 and 14 have different rotational directions.
  • a plurality of transport units 20 are arranged side by side in at least one of the rotation direction of the drive gear 13 and the rotation direction of the drive gear 14.
  • the combination range of the articles can be set and changed by the combination of the conveyance units 20.
  • the operation and the stop can be switched in units of the transport unit 20, it is easy to control the timing of transporting the article.
  • the operation and stop can be switched in units of transport units 20 to control the order and timing of transport so that the plurality of articles do not collide.
  • the transport system 100 not only the direction in which the articles are transported but also the range in which the articles are transported and the timing at which the articles are transported can be made flexible.
  • control device 200 controls the two transport units 20 so that the transport direction and the velocity of the transport trays 11 in two transport units 20 adjacent to each other among the plurality of transport units 20 become the same transport direction and speed.
  • Control the rotation of the drive gears 13 and 14 of FIG. This control can be performed by relatively simple control such that the rotational speed of the drive gear 13 and the rotational speed of the drive gear 14 are the same in two adjacent transport units 20.
  • control of the transport unit 20 is relatively simple, and in this respect, the load on the control device 200 may be small.
  • control device 200 is configured such that a combination in which a plurality of transport units 20 are arranged side by side in the rotational direction of the drive gear 13 is a plurality of combinations in which a plurality of transport units 20 are arranged side by side in the rotational direction of the drive gear 14.
  • the rotation of the drive gear 13 and the drive gear 14 of each transport unit 20 is controlled so that the transport direction and the velocity become the same transport direction and velocity.
  • the conveyance tray 20 is controlled to have the same conveyance direction and speed as one set in the rotation direction of the drive gear 13 and the rotation direction of the drive gear 14, respectively. 11 can be moved in an oblique direction.
  • control device 200 controls the rotational speed of the drive gear 13 of each transport unit 20 and the rotational speed of the drive gear 14 to the same rotational speed.
  • the transport tray 11 can be moved at an angle of 45 degrees with respect to each of the rotational directions of 14.
  • FIG. FIG. 30 shows an example of a transfer system according to another embodiment of the present invention.
  • the transport system 500 shown in FIG. 30 includes a driven body 510 and a plurality of transport units 520.
  • the driven body 510 includes a two-dimensional rack gear 511.
  • Each of the transport units 520 includes a first pinion gear 521 and a second pinion gear 522.
  • the two-dimensional rack gear 511 is provided with teeth downward on the bottom surface of the driven member 510.
  • the first pinion gear 521 and the second pinion gear 522 mesh with the two-dimensional rack gear 511 to transmit power.
  • the first pinion gear and the second pinion gear have different rotational directions.
  • a plurality of transport units 520 are arranged side by side in at least one of the transport direction by the first pinion gear 521 and the transport direction by the second pinion gear 522.
  • the combination of the conveyance units 520 can set and change the range in which the article is conveyed. Further, since the operation and the stop can be switched in units of the transport unit 520, it is easy to control the timing of transporting the article. As described above, according to the transport system 500, not only the direction in which the articles are transported but also the range in which the articles are transported and the timing at which the articles are transported can be made flexible.
  • FIG. 31 is a diagram showing an example of a control device according to another embodiment of the present invention.
  • a control device 600 is shown.
  • Each of the plurality of transport units includes a first pinion gear and a second pinion gear which transmit power by meshing with a two-dimensional rack gear provided with teeth downward on the bottom surface of the driven body, and have different rotational directions.
  • the plurality of transport units are arranged side by side in at least one of the transport direction by the first pinion gear and the transport direction by the second pinion gear.
  • the control device 600 controls the first pinion gear and the second pinion gear of each of the two transport units such that the transport direction of the driven body in two transport units adjacent to each other among the plurality of transport units is the same transport direction. 2 Control the rotation of the pinion gear. According to the control of the control device 600, it is possible to set and change the range in which the article is conveyed by the combination of the conveyance units.
  • a program for realizing all or part of the process performed by control device 200 is recorded in a computer readable recording medium, and the program recorded in the recording medium is read into a computer system and executed. The processing of each part may be performed.
  • the “computer system” includes an OS and hardware such as peripheral devices.
  • the “computer-readable recording medium” means a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in a computer system.
  • the program may be for realizing a part of the functions described above, or may be realized in combination with the program already recorded in the computer system.
  • the present invention may be applied to a transport system, a controller, a control method, and a program.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Transmission Devices (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

La présente invention concerne un système de transport pourvu d'un corps entraîné et d'une pluralité d'unités de transport. Le corps entraîné est pourvu d'un engrenage à crémaillère en deux dimensions qui a des dents vers le bas et qui est disposé sur la surface inférieure du corps entraîné. Chacune de la pluralité d'unités de transport comporte : un premier engrenage à pignons qui est en prise avec l'engrenage à crémaillère en deux dimensions, se met en rotation dans une première direction de rotation, transmet de la puissance à la crémaillère en deux dimensions, et transporte le corps entraîné dans une première direction de transport ; et un second engrenage à pignons qui est en prise avec l'engrenage à crémaillère en deux dimensions, se met en rotation dans une seconde direction de rotation différente de la première direction de rotation, transmet de la puissance à la crémaillère en deux dimensions, et transporte le corps entraîné dans une seconde direction de transport. La pluralité d'unités de transport sont disposées de manière à être agencées dans la première direction de transport et/ou dans la seconde direction de transport.
PCT/JP2018/041652 2017-11-13 2018-11-09 Système de transport, dispositif de commande, procédé de commande et programme Ceased WO2019093473A1 (fr)

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JP2017218642A JP7052995B2 (ja) 2017-11-13 2017-11-13 搬送システム、制御装置、制御方法及びプログラム
JP2017-218642 2017-11-13

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EP4153513A4 (fr) * 2019-05-20 2024-05-22 Carnegie Mellon University Système automatisé de stockage et de récupération haute densité
WO2025181492A1 (fr) * 2024-03-01 2025-09-04 Tharsus Limited Système de traitement de commandes et procédé de traitement de commandes
WO2025191108A1 (fr) * 2024-03-14 2025-09-18 Galam Robotics Systeme de deplacement bidimensionnel d'un casier dans une structure modulaire de stockage

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JP7156602B2 (ja) * 2018-09-20 2022-10-19 Ｎｅｃエンベデッドプロダクツ株式会社 搬送装置及び搬送方法

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JPH07242307A (ja) * 1994-03-07 1995-09-19 Kyodo Kumiai I T 複数のパレットを有する搬送装置
WO2006043343A1 (fr) * 2004-10-22 2006-04-27 Showa Shinku Co., Ltd. Appareil de formation de film mince et procede correspondant
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WO2025191108A1 (fr) * 2024-03-14 2025-09-18 Galam Robotics Systeme de deplacement bidimensionnel d'un casier dans une structure modulaire de stockage
FR3160169A1 (fr) * 2024-03-14 2025-09-19 Galam Robotics Systeme de deplacement bidimensionnel d’un casier dans une strucutre modulaire de stockage

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