Conveying device

Abstract

The conveying device comprises: a sliding member (30); a conveying section (1, 2, 3, 4) including a linear motor (11) and a plurality of guide rails (14) on which the sliding member can be transferred and for conveying the sliding member; and a control section (40) for obtaining a transfer state of the sliding member between the guide rails based on vibration at a transfer portion between the plurality of guide rails or a driving power of the linear motor.

Description

Technical Field

[0001] The present invention relates to a conveying device, and more particularly to a conveying device having a conveying portion including a plurality of guide rails on which slide members can be pivoted. Background Art

[0002] In the past, there is known a conveying device having a conveying portion including a plurality of guide rails on which a slide can be transferred. Such a conveying device is disclosed in Japanese Patent Publication No. 2019-062614, for example.

[0003] In the above-mentioned Japanese Patent Publication No. 2019-062614, a conveying device having a conveying trolley (sliding member) and a conveying unit for conveying the conveying trolley is disclosed. The conveying unit includes a linear motor and a plurality of guide rails on which the conveying trolley can be transferred. In the conveying device of the Japanese Patent Publication No. 2019-062614, the position of the guide rail to be transferred is corrected based on the position information of the guide rail, thereby positioning the transfer position between the guide rails with high precision.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-062614 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, in the conveying device of Japanese Patent Application Laid-Open No. 2019-062614, when the shape of the overlapping portion of the guide rail changes due to the bimetallic effect between the bracket where the conveying trolley is installed and the change over time caused by the change of the installation environment temperature, it is difficult to align the overlapping positions of the plurality of guide rails with high accuracy. In this case, there is a problem that the conveying trolley is impacted at the overlapping positions of the plurality of guide rails, and the possibility of damage to the conveying trolley and the guide rails increases.

[0009] The present invention has been made to solve the above-mentioned problems, and one object of the present invention is to provide a conveying device capable of suppressing damage to guide rails and sliders due to impact on the sliders at the transition positions of a plurality of guide rails.

[0010] Technical solutions to solve problems

[0011] In order to achieve the above-mentioned purpose, a conveying device according to one aspect of the present invention comprises: a sliding member; a conveying unit, including a linear motor and a plurality of guide rails on which the sliding member can be transferred, and conveying the sliding member; and a control unit, which obtains the transfer state of the sliding member between the guide rails based on the vibration at the transfer portion between the plurality of guide rails or the driving power of the linear motor.

[0012] In a conveying device according to one aspect of the present invention, as described above, a control unit is provided, which obtains the overlapping state of the sliding member between the guide rails based on the vibration at the overlapping portion between the plurality of guide rails or the driving power of the linear motor. Thus, when the sliding member passes through the overlapping portion between the guide rails, the overlapping state of the sliding member between the guide rails can be grasped based on the vibration or the driving power, so that the impact on the sliding member at the overlapping portion between the guide rails can be predicted in advance. Thus, the preventive maintenance of the guide rails and the sliding member can be effectively reflected. As a result, the damage to the guide rails and the sliding member due to the impact on the sliding member at the overlapping position of the guide rail can be suppressed.

[0013] In the conveying device of the above aspect, preferably, the control unit is configured to perform control to notify the transition state based on the transition state of the slider between the guide rails. If configured in this way, it is possible to notify before an abnormality occurs based on the transition state of the slider between the guide rails, so that the operator can perform maintenance inspection on the slider and the conveying unit before the guide rails and the slider are damaged.

[0014] In the conveying device of one aspect described above, preferably, the conveying section includes: a first conveying section and a second conveying section that are fixedly arranged; and a third conveying section having a moving mechanism that moves a guide rail and a linear motor, and is used to convey the sliding member from the first conveying section to the second conveying section, and the control section is configured to obtain the overlapping state of the sliding member between the guide rails based on the vibration of at least one of the overlapping portion between the guide rails from the first conveying section to the third conveying section and the overlapping portion between the guide rails from the third conveying section to the second conveying section, or the driving power of the linear motor. If configured in this way, it is possible to obtain a change in the overlapping state caused by a change in the position alignment accuracy at the overlapping portion between the third conveying section that moves relative to the first conveying section and the second conveying section and the guide rails of the first conveying section or the second conveying section. As a result, it is possible to suppress the occurrence of damage to the guide rail and the sliding member at the overlapping portion between the relatively moving guide rails.

[0015] In the above-mentioned conveying device having a structure in which the conveying part includes the first conveying part, the second conveying part and the third conveying part, preferably, a vibration sensor is provided near the overlapping portion of the guide rail of the third conveying part and the first conveying part or the second conveying part, and the control part is configured to obtain the overlapping state of the sliding member between the guide rails based on the vibration detection result of the vibration sensor. If configured in this way, the vibration of the sliding member when it overlaps between the guide rails can be easily obtained by the vibration sensor provided near the overlapping portion of the guide rail of the third conveying part and the first conveying part or the second conveying part.

[0016] In this case, the vibration sensor is preferably provided on the third conveying unit. With this configuration, by providing the vibration sensor on the moving third conveying unit, the vibration of the third conveying unit, which is more likely to vibrate than the fixedly provided first conveying unit or the second conveying unit, can be detected with high accuracy.

[0017] In the above-mentioned conveying device having a structure in which the conveying part includes the first conveying part, the second conveying part and the third conveying part, preferably, the first conveying part and the second conveying part each include a plurality of conveying modules having guide rails and linear motors and connected to each other in a straight line, and the control part is configured to obtain the overlapping state of the sliding member between the guide rails based on the vibration at the overlapping portion between the guide rails of the plurality of conveying modules connected in a straight line or the driving power of the linear motor. If configured in this way, the overlapping state of the sliding member of the overlapping portion of the guide rail between the conveying modules of the first conveying part or the second conveying part which is fixedly set can be obtained.

[0018] In the conveying device according to the above aspect, preferably, the control unit is configured to notify the overlapping state of the slider between the guide rails when the vibration at the overlapping portion between the guide rails or the driving power of the linear motor exceeds a predetermined threshold value. If configured in this way, when the vibration or the driving power of the linear motor exceeds the predetermined threshold value and becomes larger, the operator can be urged to perform maintenance inspection on the slider and the conveying unit.

[0019] In the conveying device according to the above aspect, preferably, the control unit is configured to notify the overlapping state of the slider between the guide rails when the vibration at the overlapping portion between the guide rails or the driving power of the linear motor increases by a predetermined proportional amount from the initial state. If configured in this way, when the vibration or the driving power of the linear motor increases by a predetermined proportional amount from the initial state, the operator can be urged to perform maintenance inspection of the slider and the conveying unit.

[0020] In the conveying device of the above aspect, preferably, there are a plurality of slides, and the control unit is configured to distinguish each of the plurality of slides to obtain the transition state of the slides between the guide rails. If so configured, it is easy to determine which of the slides or the transition portions between the guide rails is the cause.

[0021] Effects of the Invention

[0022] According to the present invention, as described above, it is possible to suppress damage to the guide rail and the slider due to an impact on the slider at the transition position of the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a top view showing a conveying device according to one embodiment of the present invention.

[0024] Figure 2It is a block diagram showing the overall configuration of a conveying device according to one embodiment of the present invention.

[0025] Figure 3 It is a cross-sectional view showing a conveying portion and a slider of a conveying device according to an embodiment of the present invention.

[0026] Figure 4 This is a diagram showing an example of detection of vibration of a conveying device according to an embodiment of the present invention.

[0027] Figure 5 This is a flowchart for explaining the transfer status notification process performed by the control unit of the conveyance device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0028] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0029] Reference Figure 1 to Figure 4 , the structure of a conveying device 100 according to an embodiment of the present invention is described.

[0030] (Conveying device structure)

[0031] The conveying device 100 of this embodiment is configured to convey the conveyance object placed on the slider 30 along the conveying parts 1 and 2. The conveyance object conveyed by the conveying device 100 is worked on at a plurality of conveyance positions. The conveyance object is worked on by a robot or an operator.

[0032] like Figure 1 As shown in FIG. 1 , the conveying device 100 includes a conveying unit 1, a conveying unit 2, a transfer conveying unit 3, a transfer conveying unit 4, and a slide 30. Figure 2 As shown, the conveying device 100 includes a control unit 40 and a display unit 50. In addition, the conveying unit 1 is an example of the "first conveying unit" and the "second conveying unit" in the scope of the claimed protection, and the conveying unit 2 is an example of the "first conveying unit" and the "second conveying unit" in the scope of the claimed protection. In addition, the transfer conveying unit 3 is an example of the "conveying unit" and the "third conveying unit" in the scope of the claimed protection, and the transfer conveying unit 4 is an example of the "conveying unit" and the "third conveying unit" in the scope of the claimed protection.

[0033] The conveying section 1 includes a plurality of (three) conveying modules 10. The conveying section 2 includes a plurality of (three) conveying modules 10. The plurality of conveying modules 10 are connected to each other in a straight line, forming a conveying path for the slider 30. The slider 30 is conveyed in the X direction in the conveying sections 1 and 2, and is conveyed from the conveying section 1 (2) to the conveying section 2 (1) in the Y direction by the transfer conveying sections 3 and 4. That is, the slider 30 is conveyed and recycled in the order of the conveying section 1, the transfer conveying section 3, the conveying section 2, and the transfer conveying section 4.

[0034] like Figure 2 As shown in FIG. 1 , the conveying module 10 includes a linear motor stator 11, a position detection unit 12, and a vibration sensor 13. Figure 1 and Figure 3 As shown, the conveying module 10 includes a guide rail 14. In addition, the conveying module 10 includes a cover 15. In addition, the linear motor stator 11 is an example of a "linear motor" in the scope of claims.

[0035] like Figure 2 As shown, the transfer conveying parts 3 and 4 include a conveying mechanism 20 for conveying the slide 30 in the X direction and a moving mechanism 21 for moving the conveying mechanism 20 in the Y direction. The conveying mechanism 20 has a linear motor stator 11, a position detection part 12, and a vibration sensor 13. The moving mechanism 21 has a guide rail and a ball screw mechanism.

[0036] like Figure 3 As shown, the slider 30 includes a slider body 31, a linear motor mover 32, a guide block 33 and a magnetic scale 34. A plurality of sliders 30 are provided. In addition, the plurality of sliders 30 are configured to move independently on the conveying parts 1, 2 and the transfer conveying parts 3 and 4.

[0037] The conveying parts 1 and 2 are arranged substantially in parallel. The conveying part 1 conveys the slide 30 in the X2 direction, and the conveying part 2 conveys the slide 30 in the X1 direction. The conveying parts 1 and 2 are fixedly arranged on a bracket. That is, the linear motor stators 11 and the guide rails 14 of the conveying parts 1 and 2 are fixedly arranged.

[0038] The transfer conveyor 3 is arranged at a position adjacent to the X2 direction side of the conveyor 1 and 2. In addition, the transfer conveyor 4 is arranged at a position adjacent to the X1 direction side of the conveyor 1 and 2. The transfer conveyor 3 and 4 move the guide rail 14 and the linear motor stator 11 in the Y direction through the moving mechanism 21. The transfer conveyor 3 and 4 are provided to convey the slider 30 from the conveyor 1 (2) to the conveyor 2 (1).

[0039] The linear motor stator 11 includes an electromagnet, and the slider 30 is moved by supplying driving power (current) to the electromagnet. The linear motor stator 11 is arranged along the conveying direction (X direction). Figure 3 As shown, the electromagnet of the linear motor stator 11 is arranged so that the core extends along the Y direction.

[0040] The position detector 12 is provided to face the magnetic scale 34 provided on the slider 30 in the Y direction. The position detector 12 is configured to detect the magnetism of the magnetic scale 34 to detect the position of the slider 30. The position of the slider 30 detected by the position detector 12 is used for feedback control of the movement of the slider 30.

[0041] The vibration sensor 13 detects vibrations when the slider 30 moves. Specifically, the vibration sensor 13 detects vibrations when the slider 30 moves between the conveying modules 10, when the slider 30 moves from the conveying module 10 to the transfer conveying section 3, and when the slider 30 moves from the transfer conveying section 3 to the conveying module 10. In addition, the vibration sensor 13 measures acceleration to detect vibrations. The vibration sensor 13 is disposed near the transfer portion between the conveying modules 10. In addition, the vibration sensor 13 is disposed near the transfer portion between the conveying module 10 and the transfer conveying section 3 or 4. In addition, the vibration sensor 13 is disposed in the transfer conveying section 3 near the transfer portion between the conveying module 10. In addition, the vibration sensor 13 is disposed in the transfer conveying section 4 near the transfer portion between the conveying module 10.

[0042] The guide rail 14 is arranged to extend along the conveying direction (X direction) of the slider 30. A pair of guide rails 14 are provided in parallel along the Y direction. The guide rails 14 are arranged to be aligned in a manner that the slider 30 can be transferred between the conveying modules 10 adjacent in the X direction. The guide block 33 of the slider 30 is engaged with the guide rail 14 in a manner that it can move in the X direction.

[0043] The cover 15 is provided to cover the upper part of the linear motor stator 11, the position detection unit 12, the vibration sensor 13 and the guide rail 14. That is, the cover 15 is provided so that the upper part of the linear motor stator 11, the position detection unit 12, the vibration sensor 13 and the guide rail 14 is not exposed even when the slider 30 is not provided.

[0044] The slider body 31 is configured to carry the conveyed object and is provided as a cover 15 surrounding the conveying units 1 and 2 when viewed from the conveying direction (X direction). The slider body 31 is provided with a linear motor mover 32, a guide block 33, and a magnetic scale 34.

[0045] The linear motor mover 32 is provided so as to sandwich the linear motor stator 11 in the Y direction. The linear motor mover 32 includes a plurality of permanent magnets arranged along the conveying direction (X direction).

[0046] The guide block 33 is provided so as to be movable along the guide rail 14. The guide block 33 has a plurality of balls that move and circulate along the moving direction.

[0047] The magnetic scale 34 is magnetized in a predetermined pattern along the conveying direction (X direction).

[0048] The control unit 40 is configured to control each unit of the conveying device 100. The control unit 40 controls the power supplied to the linear motor stator 11, thereby controlling the movement of the slider 30. In addition, the control unit 40 controls the driving of the moving mechanism 21 of the transfer conveying units 3 and 4, thereby controlling the movement of the conveying mechanism 20. The control unit 40 includes a CPU (central processing unit), a memory, and the like.

[0049] Here, the control unit 40 is configured to obtain the overlapping state of the slider 30 between the guide rails 14 based on the vibration at the overlapping portion between the plurality of guide rails 14 or the driving power of the linear motor stator 11. In addition, the control unit 40 is configured to perform control to notify the overlapping state based on the overlapping state of the slider 30 between the guide rails 14.

[0050] Specifically, the control unit 40 displays the rotation state of the slider 30 on the guide rail 14 on the display unit 50 for notification.

[0051] In addition, the control unit 40 is configured to obtain the transfer state of the sliding member 30 between the guide rails 14 based on the vibration of at least one of the transfer portion between the guide rails 14 from the conveying unit 1 (2) to the transfer conveying unit 3 (4) and the transfer portion between the guide rails 14 from the transfer conveying unit 3 (4) to the conveying unit 2 (1) or the driving power of the linear motor stator 11.

[0052] Furthermore, the control unit 40 is configured to obtain the overlapping state of the slider 30 between the guide rails 14 based on vibration at the overlapping portion between the guide rails 14 of the plurality of conveyor modules 10 connected in a straight line or the driving power of the linear motor stator 11 .

[0053] In addition, the control unit 40 is configured to distinguish each of the plurality of sliders 30 and obtain the transition state of the slider 30 between the guide rails 14. That is, the control unit 40 distinguishes each of the plurality of sliders 30, grasps the position of each slider 30, and controls the movement. In addition, since the control unit 40 also obtains the state of the transition portion of the slider 30 between the guide rails 14, the transition state at that time is obtained.

[0054] Furthermore, the control unit 40 is configured to obtain the rotation state of the slider 30 between the guide rails 14 based on the vibration detection result of the vibration sensor 13 .

[0055] In addition, the control unit 40 is configured to notify the sliding member 30 of the overlapping state between the guide rails 14 when the vibration at the overlapping portion between the guide rails 14 or the driving power of the linear motor stator 11 exceeds a predetermined threshold value. Figure 4As shown in the example, when the acceleration caused by the vibration exceeds the threshold value, the control unit 40 notifies the slider 30 of the transition state between the guide rails 14. In addition, the threshold value is set to a value at which the slider 30 and the guide rail 14 are not damaged. In addition, the control unit 40 sets a predetermined time (for example, 400 ms) as the time when the slider 30 passes through the transition portion between the guide rails 14. And the control unit 40 recognizes the vibration within the predetermined time as the vibration generated at the transition portion.

[0056] In addition, the control unit 40 is configured to notify the overlapping state of the slider 30 between the guide rails 14 when the vibration at the overlapping portion between the guide rails 14 or the driving power of the linear motor stator 11 increases by a predetermined ratio from the initial state. For example, the control unit 40 notifies the overlapping state when the maximum value of the vibration at the overlapping portion between the guide rails 14 increases by a predetermined ratio (for example, 20%) compared to the initial state (when installed). In addition, the control unit 40 notifies the overlapping state when the maximum value of the driving power of the linear motor stator 11 at the overlapping portion between the guide rails 14 increases by a predetermined ratio (for example, 20%) compared to the initial state (when installed).

[0057] For example, the control unit 40 displays a notification such as “At location P1, the vibration increased from date and time T1. Please confirm the guide rail position of the transfer part at location P1.” on the display unit 50. In addition, the control unit 40 displays a notification such as “At location P2, in slider D1, the vibration increased from date and time T2. Please confirm the guide rail position of the transfer part at location P2, and confirm the status of slider D1.” on the display unit 50. In addition, the control unit 40 displays a notification such as “At location P3, the current value increased during the transfer from date and time T3. Please confirm the guide rail position of the transfer part at location P3.” on the display unit 50. In addition, the control unit 40 displays a notification such as “At location P4, in slider D2, the current value increased during the transfer from date and time T4. Please confirm the guide rail position of the transfer part at location P4, and confirm the status of slider D2.” on the display unit 50. In addition, the control unit 40 displays a notification such as "In location P5, the vibration and current value during the transfer increased from date and time T5. Please confirm the guide rail position of the transfer part in location P5." In addition, the control unit 40 displays a notification such as "In location P6, in slider D3, the vibration and current value during the transfer increased from date and time T6. Please confirm the guide rail position of the transfer part in location P6 and the state of slider D3." on the display unit 50.

[0058] The display unit 50 displays a screen for operating the conveying device 100, information on the state of the conveying device 100, information on the working state, etc. In addition, the display unit 50 displays the state of the slider 30 between the guide rails 14. The display unit 50 is composed of a thin display such as a liquid crystal display or an organic EL display. In addition, the display unit 50 includes a touch panel for accepting operations.

[0059] (Transfer status notification processing)

[0060] Reference Figure 5 , the transfer status notification processing performed by the control unit 40 of the conveying device 100 is described.

[0061] exist Figure 5 In step S1, the control unit 40 obtains the vibration of the slider 30 when it is transferred between the guide rails 14 and the drive current of the linear motor stator 11. In step S2, the control unit 40 determines whether the obtained vibration or drive current is greater than a threshold value, or whether the obtained vibration or drive current has increased by more than 20% since the installation. In the case where the obtained vibration or drive current is greater than the threshold value, or the obtained vibration or drive current has increased by more than 20% since the installation, the process proceeds to step S4. On the other hand, if the obtained vibration or drive current is below the threshold value, and the obtained vibration or drive current has not increased by more than 20% since the installation, the process proceeds to step S3.

[0062] In step S3, the control unit 40 determines that there is no problem. In this case, the state of the slider 30 rotating between the guide rails 14 is not notified. In addition, the vibration of the slider 30 when rotating between the guide rails 14 and the driving current of the linear motor stator 11 are stored. Then, the process returns to step S1.

[0063] In step S4, the control unit 40 determines whether there is a dependency on a specific slider 30. That is, the control unit 40 determines whether a vibration occurs when a specific slider 30 passes through the transition portion between the guide rails 14. In the case where a plurality of sliders 30 vibrate at the transition portion between the guide rails 14, it is determined that there is no dependency on a specific slider 30. If there is a dependency on a specific slider 30, the process proceeds to step S5, and if there is no dependency on a specific slider 30, the process proceeds to step S6.

[0064] In step S5, the control unit 40 notifies both the confirmed transition position between the guide rails 14 and the specific slider 30. In addition, when only the specific slider 30 is related to the vibration, the confirmation notification of the specific slider 30 is performed. Thereafter, the transition state notification process is terminated.

[0065] In step S6, the control unit 40 notifies the confirmed transfer position between the guide rails 14. Thereafter, the transfer state notification process is terminated.

[0066] (Effects of this embodiment)

[0067] In this embodiment, the following effects can be obtained.

[0068] In the present embodiment, as described above, a control unit 40 is provided, and the control unit 40 obtains the transition state of the slider 30 between the guide rails 14 based on the vibration at the transition portion between the plurality of guide rails 14 or the driving power of the linear motor. As a result, when the slider 30 passes through the transition portion between the guide rails 14, the transition state of the slider 30 between the guide rails 14 can be grasped based on the vibration or the driving power, so that the situation in which the slider 30 is impacted at the transition portion between the guide rails 14 can be predicted in advance. As a result, the preventive maintenance of the guide rails 14 and the slider 30 can be effectively reflected. As a result, the situation in which the guide rails 14 and the slider 30 are damaged due to the impact on the slider 30 at the transition position of the guide rail 14 can be suppressed.

[0069] In addition, in the present embodiment, as described above, the control unit 40 is configured to perform control to notify the transition state based on the transition state of the slider 30 between the guide rails 14. Thus, it is possible to perform notification before an abnormality occurs based on the transition state of the slider 30 between the guide rails 14, so that the operator can perform maintenance inspections on the slider 30, the conveying units 1 and 2, and the transition conveying units 3 and 4 before the guide rails 14 and the slider 30 are damaged.

[0070] In addition, in the present embodiment, as described above, the control unit 40 is configured to obtain the overlapping state of the slide member 30 between the guide rails 14 based on the vibration of at least one of the overlapping portion between the guide rails 14 from the conveying unit 1 (2) to the overlapping conveying unit 3 (4) and the overlapping portion between the guide rails 14 from the overlapping conveying unit 3 (4) to the conveying unit 2 (1), or the driving power of the linear motor. Thus, the change in the overlapping state caused by the change in the position alignment accuracy at the overlapping portion between the overlapping conveying unit 3 (4) and the guide rails 14 of the conveying unit 1 or 2 that are fixedly installed relative to the conveying units 1 and 2 can be obtained. Thus, the situation in which the guide rails 14 and the slide member 30 are damaged at the overlapping portion between the relatively moving guide rails 14 can be suppressed.

[0071] In addition, in the present embodiment, as described above, the vibration sensor 13 is provided near the overlapping portion between the overlapping conveying section 3 (4) and the guide rail 14 of the conveying section 1 or 2, and the control section 40 is configured to obtain the overlapping state of the slider 30 between the guide rails 14 based on the vibration detection result of the vibration sensor 13. Thus, the vibration of the slider 30 when it overlaps between the guide rails 14 can be easily obtained by the vibration sensor 13 provided near the overlapping portion between the overlapping conveying section 3 (4) and the guide rail 14 of the conveying section 1 or 2.

[0072] In addition, in this embodiment, as described above, the vibration sensor 13 is provided in the transfer conveying parts 3 and 4. Thus, by providing the vibration sensor 13 in the moving transfer conveying parts 3 and 4, the vibration of the transfer conveying parts that are more likely to vibrate than the fixed conveying parts 1 or 2 can be detected with high accuracy.

[0073] In addition, in the present embodiment, as described above, the control unit 40 is configured to obtain the overlapping state of the slider 30 between the guide rails 14 based on the vibration at the overlapping portion between the guide rails 14 of the plurality of conveyor modules 10 connected in a straight line or the driving power of the linear motor. Thus, the overlapping state of the slider 30 at the overlapping portion of the guide rails 14 between the conveyor modules 10 of the conveyor unit 1 or 2 that are fixedly installed can be obtained.

[0074] In addition, in the present embodiment, as described above, the control unit 40 is configured to notify the overlapping state of the slider 30 between the guide rails 14 when the vibration at the overlapping portion between the guide rails 14 or the driving power of the linear motor exceeds a predetermined threshold. Thus, when the vibration or the driving power of the linear motor exceeds a predetermined threshold and becomes large, the operator can be urged to perform maintenance inspections on the slider 30, the conveying units 1 and 2, and the overlapping conveying units 3 and 4.

[0075] In addition, in the present embodiment, as described above, the control unit 40 is configured to notify the overlapping state of the slider 30 between the guide rails 14 when the vibration at the overlapping portion between the guide rails 14 or the driving power of the linear motor increases by a predetermined proportional amount from the initial state. Thus, when the vibration or the driving power of the linear motor increases by a predetermined proportional amount from the initial state, the operator can be urged to perform maintenance inspections on the slider, the conveying units 1 and 2, and the overlapping conveying units 3 and 4.

[0076] In this embodiment, as described above, the control unit 40 is configured to obtain the rotation state of the slider 30 between the guide rails 14 for each of the plurality of sliders 30. This makes it easy to determine whether the cause lies in the individual sliders 30 or the rotation portion between the guide rails 14.

[0077] (Variation Example)

[0078] In addition, the embodiments disclosed this time should be considered to be illustrative in all aspects and not restrictive. The scope of the present invention is not shown by the description of the above-mentioned embodiments, but by the scope of the claims, and includes all changes (modifications) within the meaning and scope equivalent to the scope of the claims.

[0079] For example, in the above-mentioned embodiment, an example of a structure in which both the vibration at the overlapping portion between the guide rails and the driving power of the linear motor are detected to obtain the overlapping state between the guide rails is shown, but the present invention is not limited to this. In the present invention, at least one of the vibration at the overlapping portion between the guide rails and the driving power of the linear motor may be detected to obtain the overlapping state between the guide rails. In addition, in the case of not detecting the vibration at the overlapping portion between the guide rails, the vibration sensor may not be provided.

[0080] In addition, in the above embodiment, an example of a structure in which a vibration sensor is provided in each of a plurality of conveying modules and a transfer conveying unit (third conveying unit) is shown, but the present invention is not limited thereto. In the present invention, a vibration sensor may also be provided only in one of the transfer portions between the guide rails.

[0081] In addition, in the above-mentioned embodiment, an example of a structure in which the moving mechanism of the transfer conveying unit (third conveying unit) moves the linear motor and the guide rail in the horizontal direction is shown, but the present invention is not limited to this. In the present invention, it is also possible to have a structure in which the moving mechanism of the third conveying unit moves the linear motor and the guide rail in the vertical direction. In this case, the first conveying unit and the second conveying unit may also be arranged in the vertical direction.

[0082] In addition, in the above embodiment, an example of a structure in which the moving mechanism of the transfer conveying unit (third conveying unit) causes the linear motor and the guide rail to move horizontally is shown, but the present invention is not limited to this. In the present invention, the moving mechanism of the third conveying unit may also cause the linear motor and the guide rail to move rotationally.

[0083] In addition, in the above-mentioned embodiment, an example of a structure in which the transfer state between the rails is displayed on the display unit for notification is shown, but the present invention is not limited to this. In the present invention, the transfer state between the rails can also be notified by sound. In addition, information can also be sent to an external terminal for notification.

[0084] In addition, in the above embodiment, the example of the structure in which the conveying unit (the first conveying unit and the second conveying unit) each includes three conveying modules is shown, but the present invention is not limited thereto. In the present invention, the conveying unit may also include one, two, or more than four conveying modules.

[0085] In addition, in the above-mentioned embodiment, for the convenience of explanation, the control processing performed by the control unit is described using a process-driven process in which processing is performed sequentially according to the processing flow, but the present invention is not limited to this. In the present invention, the control processing performed by the control unit can also be performed by an event-driven (event-driven) process in which processing is performed in units of events. In this case, it can be performed in a completely event-driven manner, or it can be performed in a combination of event-driven and process-driven.

[0086] Description of symbols

[0087] 1, 2 conveying parts (first conveying part, second conveying part);

[0088] 3, 4 Transfer conveying section (conveyor section, third conveyor section);

[0089] 10 conveying module;

[0090] 11 Linear motor stator (linear motor);

[0091] 13. Vibration sensor;

[0092] 14 rails;

[0093] 21 mobile mechanism;

[0094] 30 Slide;

[0095] 40 Control Department;

[0096] 100 Conveying device.

Claims

1. A conveying device, comprising: Slides; The conveying part includes: A linear motor including a stator and moving the slide; and a plurality of guide rails arranged along a conveying direction of the slide and capable of being transferred by the slide in the conveying direction, the conveying section conveying the slide; a vibration sensor, disposed on the conveying portion, to detect vibration of the sliding member when it moves; and The control unit acquires the overlapping state of the slider between the guide rails based on the vibration at the overlapping portions between the plurality of guide rails according to the detection result of the vibration sensor or the driving power of the linear motor.

2. The conveying device according to claim 1, wherein: The control unit is configured to perform control to notify a transition state based on the transition state of the slider between the guide rails.

3. The conveying device according to claim 1 or 2, wherein: The conveying unit comprises: A first conveying portion and a second conveying portion that are fixedly disposed; and a third conveying unit having a moving mechanism for moving the guide rail and the linear motor, and for conveying the slide from the first conveying unit to the second conveying unit, The control unit is configured to obtain a transition state of the sliding member between the guide rails based on a vibration of at least one of a transition portion between the guide rails from the first conveying unit to the third conveying unit and a transition portion between the guide rails from the third conveying unit to the second conveying unit, or a driving power of the linear motor.

4. The conveying device according to claim 3, wherein: A vibration sensor is provided near a transition portion between the third conveying portion and the guide rail of the first conveying portion or the second conveying portion. The control unit is configured to obtain a rotation state of the slider between the guide rails based on a vibration detection result of the vibration sensor.

5. The conveying device according to claim 4, wherein: The vibration sensor is disposed on the third conveying unit.

6. The conveying device according to claim 3, wherein: The first conveying unit and the second conveying unit each include a plurality of conveying modules having the guide rail and the linear motor and connected to each other in a straight line. The control unit is configured to obtain a transition state of the slider between the guide rails based on vibration at a transition portion between the guide rails of the plurality of conveyor modules connected in a straight line or a driving power of the linear motor.

7. The conveying device according to claim 1 or 2, wherein: The control unit is configured to notify the slider of the overlapping state between the guide rails when vibration at the overlapping portion between the guide rails or the driving power of the linear motor exceeds a predetermined threshold value.

8. The conveying device according to claim 1 or 2, wherein: The control unit is configured to notify the slider of the overlapping state between the guide rails when vibration at the overlapping portion between the guide rails or the driving power of the linear motor increases by a predetermined proportional amount from an initial state.

9. The conveying device according to claim 1 or 2, wherein: The sliding member is provided with a plurality of The control unit is configured to obtain the rotation state of the slider between the guide rails for each of the plurality of sliders.

10. A conveying device comprising: Slides; The conveying unit includes: a linear motor including a stator and moving the slide; and a plurality of guide rails arranged along a conveying direction of the slide and capable of being transferred by the slide in the conveying direction, the conveying section conveying the slide; A vibration sensor is disposed near the overlapping portion of the plurality of guide rails of the conveying portion to detect vibration of the sliding member when the sliding member moves; and The control unit acquires the overlapping state of the slider between the guide rails based on the vibration at the overlapping portions between the plurality of guide rails according to the detection result of the vibration sensor or the driving power of the linear motor.

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