Transport system and method for establishing transport system

Abstract

The purpose of the present invention is to facilitate the assembly of an upper rail. A transport system (1) is provided with: a lower rail on which a transport device moves; an upper rail (20) for guiding the transport device; a beam section (50) spanning between a pair of storage racks provided on both sides of the lower rail; and a mounting section (60). The beam section (50) has a groove section (51) extending in the longitudinal direction thereof, and the association members (3A, 4A) can be fitted into the groove section (51). The upper rail (20) is supported by the beam section (50) when the mounting section (60) is fastened and fixed to the beam section (50) via the association member.

Description

Technical Field

[0001] The invention relates to a conveying system and a method for assembling the conveying system. Background Art

[0002] A known transport system uses a stacking robot that moves between storage racks arranged in parallel. The track for the stacking robot to move is composed of a lower track and an upper track. The lower track is laid on the floor for the wheels of the trolley of the stacking robot to roll, and the upper track guides the guide rollers provided at the upper end of the stacking robot. The upper track is installed on a beam-like member, and the beam-like member is erected between the storage racks in a manner spanning the track.

[0003] (Prior art literature)

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 7-25425 Summary of the invention

[0005] (Problems to be solved by the invention)

[0006] Such a transport system needs to align the upper rail correctly with respect to the lower rail for assembly. In view of this, it is expected to realize a transport system that can make the assembly involving the upper rail easier.

[0007] (Technical means to solve the problem)

[0008] In order to solve the above-mentioned problem, one aspect of the present invention relates to a conveying system comprising: a lower rail, wherein a conveying device for conveying articles moves on the lower rail; an upper rail, which is used to guide the conveying device at a position higher than the lower rail; a storage shelf, which is provided as a pair on both sides of the lower rail and is used to accommodate the articles; a beam portion, which is erected between the pair of the storage shelves; and a mounting portion, which is used to connect the upper rail to the beam portion, and the beam portion has a groove portion extending along the long side direction of the beam portion, and a coupling component can be embedded in the groove portion. When the mounting portion is fastened to the beam portion via the coupling component, the upper rail is supported by the beam portion.

[0009] In order to solve the above-mentioned problem, in a method for assembling a conveying system according to one aspect of the present invention, the conveying system comprises: a lower rail, wherein a conveying device for conveying articles moves on the lower rail; an upper rail, which is used to guide the conveying device at a position higher than the lower rail; a storage shelf, which is provided as a pair on both sides of the lower rail and is used to store the articles; a beam, which is erected between the pair of the storage shelves; and a mounting portion, which is used to connect the upper rail to the beam, and the beam has a groove extending in the long side direction of the beam, and the engaging member can be fitted into the groove. When the mounting portion is fastened to the beam portion via the coupling component, the upper rail is supported by the beam portion. The assembly method of the conveying system includes a first step of laying the lower rail and a second step of assembling the upper rail. The second step includes the following sub-steps: when the mounting portion is loosely coupled to the beam portion via the coupling component engaged in the groove portion, the mounting portion fixed to the upper rail is moved along the long side direction of the beam portion, thereby adjusting the position of the upper rail relative to the lower rail laid in the first step.

[0010] (Effects of the Invention)

[0011] According to one aspect of the present invention, a conveying system can be realized that can more easily align an upper rail with a lower rail for accurate assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a side view of the conveying system involved in embodiment of this invention.

[0013] Figure 2 It is a top view of the conveying system according to the embodiment of the present invention.

[0014] Figure 3 It is a front view of the conveying device in the conveying system according to the embodiment of the present invention.

[0015] Figure 4 It is a side view of the vicinity of the upper rail in the transport system according to the embodiment of the present invention, and shows a cross section of the upper rail.

[0016] Figure 5 It is a front view of the vicinity of the upper rail in the transport system according to the embodiment of the present invention, and shows a cross section of a beam portion.

[0017] Figure 6 This is an example diagram of the bottom surface of the upper rail in the transport system according to the embodiment of the present invention.

[0018] Figure 7This is an example diagram of the bottom surface of the upper rail in the transport system according to the embodiment of the present invention.

[0019] Figure 8 This is a functional explanatory diagram of a laser scriber used in a method for assembling a transport system according to an embodiment of the present invention.

[0020] Fig. 9 It is a side view of a positioning jig used in a method for assembling a conveying system according to an embodiment of the present invention, and shows a state in which the positioning jig is installed on a lower rail and a laser scriber is placed on the positioning jig.

[0021] Fig.10 It is a top view of a positioning tool used in the assembly method of the conveying system according to the embodiment of the present invention.

[0022] Fig.11 It is a front view of a positioning tool used in the assembly method of the conveying system involved in the embodiment of the present invention.

[0023] Fig.12 It is an explanatory diagram of the second step of the method for assembling the transport system according to the embodiment of the present invention, and shows a situation when the position of the upper rail is adjusted.

[0024] Fig.13 This is an explanatory diagram of the second step of the method for assembling the transport system according to the embodiment of the present invention, and shows a state in which the position of the upper rail is appropriately adjusted.

[0025] <Description of Reference Numerals>

[0026] 1Conveying system

[0027] 10 Lower Track

[0028] 11 Left lower track

[0029] 12Right lower track

[0030] 20 Upper track

[0031] 21, 21A, 21B markings

[0032] 22 slots

[0033] 30 Stacking robot arm (transport device)

[0034] 31 Mobile trolley

[0035] 32 columns

[0036] 33 Lifting unit

[0037] 35 upper guide roller (guide roller)

[0038] 40A, 40B storage racks

[0039] 50 beam

[0040] 51, 52, 53 grooves

[0041] 60 Installation Department

[0042] 61 1st fixed part

[0043] 62Second fixed part

[0044] 3A, 3B bolts (joint parts)

[0045] 4A, 4B nuts (associated parts)

[0046] 70 Laser Scriber

[0047] 71 irradiation line

[0048] 72 Basic baseline

[0049] 73 Orthogonal baseline

[0050] 80 Assistive devices

[0051] 81 Flat Plate

[0052] 81A cutout

[0053] 82 Ridge

[0054] 831st Baseline

[0055] 84 2nd Baseline

[0056] C Items

[0057] V plumb plane DETAILED DESCRIPTION

[0058] [Implementation Method]

[0059] <Overview of the transport system>

[0060] Hereinafter, one embodiment of the present invention will be described with reference to the drawings. Figure 1 It is a side view (right side view) of the conveyance system 1 according to the embodiment. Figure 2 1 is a schematic plan view of the transport system 1 , and only the main part near the top of the transport system 1 is shown in the figure. Figure 3 It is a front view of a transport device for transporting articles C in the transport system 1 , that is, a stacker robot 30 .

[0061] The transport system 1 includes a stacking robot 30 for transporting articles C, a lower rail 10 (moving rail) for the stacking robot 30 to travel, and an upper rail 20 (guide rail) for guiding the stacking robot 30 at a position higher than the lower rail 10. The transport system 1 includes a storage rack 40A and a storage rack 40B for accommodating the articles C transported by the stacking robot 30 on both sides parallel to the extending direction of the lower rail 10.

[0062] As shown in the figures, an XYZ coordinate system is defined in the present invention, in which the Z axis is the vertical direction (gravity direction), the XY plane is the horizontal plane, and the Y axis is parallel to the extension direction of the lower rail 10, which is also the moving direction of the stacking robot 30. Therefore, the X axis direction is a direction orthogonal to the moving direction of the stacking robot 30 and the extension direction of the lower rail 10. In the present invention, regarding the moving direction of the stacking robot 30, the positive Y axis direction is called the front, the negative Y axis direction is called the rear, the positive X axis direction side is called the right side, and the negative X axis direction side is called the left side. The upward tilt in the Z axis plane is also the upward tilt in the vertical plane.

[0063] Regarding the drawings of the present invention, the drawings when the object is observed in the positive X-axis direction are called the front view, and the drawings when the object is observed in the positive Y-axis direction are called the right view. The right view is an example of a side view. In addition, the drawings when the object is observed in the negative Z-axis direction (vertically downward) are called the top view, and the drawings when the object is observed in the positive Z-axis direction (vertically upward) are called the bottom view.

[0064] <Accommodating shelves>

[0065] Regarding the storage racks provided on both sides parallel to the extending direction of the lower rail 10 , the storage rack 40A is provided on the left side of the lower rail 10 , and the storage rack 40B is provided on the right side of the lower rail 10 .

[0066] The storage rack 40A and the storage rack 40B are each composed of a frame 41 and a plurality of shelf layers 42 arranged in the height direction. Articles C are stored in the storage rack 40A and the like by placing the articles C on the shelf layers 42 fixed to the frame 41. The stacking robot 30 can be used to place or take articles C into or out of each shelf layer 42 of the storage rack 40A arranged on the left side of the lower rail 10 and each shelf layer 42 of the storage rack 40B arranged on the right side of the lower rail 10.

[0067] <Tracks for stacking robot>

[0068] The track on which the stacking robot 30 moves is composed of a lower track 10 and an upper track 20. In the present embodiment, the lower track 10 is composed of a left lower track 11 and a right lower track 12 arranged parallel to each other. The left lower track 11 and the right lower track 12 are respectively laid linearly on the floor F of a factory or warehouse where the conveying system 1 is to be installed.

[0069] The upper rail 20 is parallel to the left lower rail 11 and the right lower rail 12, and is provided at a position higher than the left lower rail 11 and the right lower rail 12. In the present embodiment, when viewed from above, that is, when viewed in the vertical direction, the upper rail 20 is located at the center between the left lower rail 11 and the right lower rail 12. However, the position of the upper rail 20 relative to the left lower rail 11 and the right lower rail 12 may not be limited to the center.

[0070] The storage shelves 40A and the storage shelves 40B are arranged on both sides of the lower rail 10 in parallel with the extension direction of the lower rail 10, and a plurality of beams 50 (cross beams, horizontal components) are arranged between the storage shelves 40A and the storage shelves 40B. The beam 50 is a columnar component, and is configured to extend along the X-axis direction. That is, the extension direction of the beam 50 is orthogonal to the moving direction of the stacking robot 30 and the extension direction of the lower rail 10. The beam 50 is fixed to the storage shelves 40A and the storage shelves 40B at the top of each of the storage shelves 40A and the storage shelves 40B through appropriate connecting components. By supporting the upper rail 20 with a plurality of beams 50, the upper rail 20 can be configured in the above-mentioned position.

[0071] <Stacking Robot Arm>

[0072] The stacking robot 30 is a transport device that moves along the rails to transport articles C. The stacking robot 30 includes a moving carriage 31 , a pair of columns 32 , and a lifting unit 33 as main parts.

[0073] The trolley frame 311 of the mobile trolley 31 supports wheels rolling on the lower rail 10. The wheels of the mobile trolley 31 are composed of a pair of left wheels 312 arranged at the front and rear of the mobile trolley 31, and a pair of right wheels 313 arranged at the front and rear of the mobile trolley 31. The left wheel 312 rolls on the left lower rail 11, and the right wheel 313 rolls on the right lower rail 12. The weight of the stacking robot 30 is mainly supported by these four wheels.

[0074] The motor mounted on the moving trolley 31 drives at least one wheel, so that the stacking robot 30 moves independently on the lower rail 10. In addition, a pair of lower guide rollers 314 are provided on the trolley frame 311 to clamp the left lower rail 11 from the left and right. The lower guide rollers 314 are components for stabilizing the moving direction of the stacking robot 30. Figure 3 As shown, it is preferable to provide two sets of a pair of lower guide rollers 314 for sandwiching the left lower rail 11 from left and right at the front and rear of the moving carriage 31 .

[0075] The column 32 is a columnar component that is erected on the carriage frame 311 and extends in the vertical direction. On the stacking robot 30, a pair of columns 32 are provided at the front and rear parts of the moving carriage 31. Between the tops of the pair of columns 32, an upper frame 34 is provided that connects the pair of columns 32. The upper frame 34 is a component that extends in the Y-axis direction.

[0076] In addition, a pair of upper guide rollers 35 (guide rollers) are provided at the top of the column 32, which can roll on the left and right sides of the upper rail 20. The upper guide rollers 35 are used to stabilize the walking posture of the stacking robot 30. The pair of upper guide rollers 35 are used to limit the upper part of the stacking robot 30 from deviating to the right or left due to the tilt of the stacking robot 30 itself. Figure 3 and Figure 4 As shown, two pairs of upper guide rollers 35 are preferably provided at the front and rear parts of the stacking robot arm 30 .

[0077] A lifting unit 33 is disposed between the pair of columns 32. The lifting unit 33 can move up and down along the columns 32. On the mutually opposing side surfaces of the pair of columns 32, lifting rails for guiding the lifting unit 33 along the columns 32 are appropriately provided. The lifting unit 33 includes a base 331, a lifting frame 332, and a transfer unit 333.

[0078] The transfer unit 333 of the lifting unit 33 can take out (pick up) or place (place) articles C on the shelf layer 42 of the storage rack 40A or the storage rack 40B, or on a loading and unloading device appropriately provided in the conveying system 1. The transfer unit 333 can also hold the articles C being conveyed.

[0079] The base 331 of the lifting part 33 supports the transfer part 333 and accommodates a driving source such as a motor for performing the transfer operation of the transfer part 333. A mating part (not shown) that is mated with the lifting rail and can be lifted and lowered relative to the lifting rail is provided on each of the pair of lifting frames 332 fixed to the base 331 and disposed opposite to the pair of columns 32.

[0080] Below the column 32, a lifting drive unit (not shown) is provided for lifting the lifting unit 33 relative to the column 32. A wire rope or a belt driven by the lifting drive unit is connected to the lifting frame 332, so that the lifting unit 33 can be lifted and lowered along the column 32.

[0081] In addition, in the transport system 1, the stacking robot 30 moving on a set of tracks may be single or multiple. That is, in order to improve the transport capacity in the transport system 1, a scheme in which multiple stacking robot arms 30 move on a common track may also be adopted.

[0082] <Overview of the upper rail fixing method>

[0083] Next, refer to Figures 4 to 7 The fixed position of the upper rail 20 on the beam 50 in the conveying system 1 will be described in detail. Figure 4 , Figure 5 They are respectively a right side view and a front view showing an enlarged fixed position of the upper rail 20 on the beam 50 . Figure 6 , Figure 7 Each of them is a bottom view of an example of the bottom surface structure of the upper rail 20 .

[0084] The upper rail 20 is located below the beam 50 and is supported by the beam 50 in a manner perpendicular to the beam 50. Here, the upper rail 20 and the beam 50 are connected via the mounting portion 60. In this embodiment, the mounting portion 60 is a member fixed to the upper rail 20 by a coupling member.

[0085] <Structure of upper rail>

[0086] Figure 4 FIG. 2 shows a cross section of the upper rail 20, in which the upper rail 20 is shown as a hatched component. The upper rail 20 has a uniform shape in its long side direction. Figure 4 The upper rail 20 having such a uniform cross-sectional structure can be formed of an extruded material mainly made of aluminum (Al), for example.

[0087] The cross section of the upper rail 20 is generally rectangular. A groove 22 extending along the longitudinal direction of the upper rail 20 is opened near the top surface of the upper rail 20, and the groove 22 is for the connecting member to be fitted into the groove 22. Here, as a specific example, the connecting member can be a set of components consisting of a bolt and a nut. In this way, the groove 22 for the connecting member to be fitted is formed at the top surface of the upper rail 20. In addition, as is well known, washers can be used appropriately when the bolt and nut are connected and fixed.

[0088] like Figure 4 As shown, the groove 22 in which the engaging member is fitted has a groove width that allows the nut 4B to be obliquely inserted from the opening near the top surface. In addition, the groove width of the groove 22 deeper from the opening is wider than the groove width of the groove 22 near the opening. Therefore, when tightening, the nut 4B screwed with the bolt shaft of the bolt 3B inserted from the outside of the groove 22 is engaged with the two ribs of the opening toward the top surface of the upper rail 20.

[0089] The two side surfaces of the upper rail 20 are perpendicular to the X-axis. The upper rail 20 is configured such that a pair of upper guide rollers 35 of the stacking robot 30 can roll on the two side surfaces of the upper rail 20. Figure 4 In the figure, the dotted line schematically represents the upper guide roller 35, and the figure shows the configuration relationship between the upper guide roller 35 and the upper rail 20. Since the upper guide rollers 35 roll on both sides of the upper rail 20, the groove 22 for fixing the upper rail 20 is preferably provided on the top surface side of the upper rail 20 as described above.

[0090] A mark 21 is formed on the bottom surface of the upper rail 20. The mark 21 is a mark for clearly indicating the position of the upper rail 20 in the X-axis direction, that is, the direction orthogonal to the extending direction of the upper rail 20 in the horizontal plane. Figure 4 In FIG. 2 , a mark 21 formed as a bottom depression is schematically shown. Such a mark 21 may also be formed as a depression or protrusion provided on the bottom surface of the upper rail 20. Alternatively, the mark 21 may also be drawn on the bottom surface of the upper rail 20.

[0091] exist Figure 6 and Figure 7 , an example of the shape of the mark 21 on the bottom surface of the upper rail 20 is shown. Figure 6 The mark 21A shown is an example of the mark 21 provided on the bottom surface of the upper rail 20 and extending in the longitudinal direction. The mark 21A is in the shape of a line provided at the center of the bottom surface of the upper rail 20. Figure 7 The mark 21B shown is an example of the marks 21 arranged in series along the long side direction on the bottom surface of the upper rail 20. The mark 21B is formed as a dotted line provided at the center of the bottom surface of the upper rail 20.

[0092] <Structure of beam>

[0093] Figure 5 FIG. 5 shows a cross section of the beam 50, in which the beam 50 is shown as a hatched component. The beam 50 has a uniform shape in the longitudinal direction. Figure 5 The beam portion 50 having such a uniform cross-sectional structure can be formed of an extruded material mainly made of aluminum, for example.

[0094] The cross section of the beam 50 is generally rectangular. A groove 51 extending along the long side of the beam 50 is opened near the side surface of the beam 50, and the connecting component can be inserted into the groove 51. A groove 52 extending along the long side of the beam 50 is opened near the top surface of the beam 50, and the connecting component can be inserted into the groove 52. Figure 5As shown, the number of grooves 52 on the top surface side may also be two. On the bottom surface of the beam portion 50, there is an opening with a groove portion 53 extending along the long side direction of the beam portion 50, and the groove portion 53 allows the associated component to be embedded in the groove portion 53. Figure 5 As shown, the number of grooves 53 on the bottom surface side may be two.

[0095] The groove 51 on the side surface, the groove 52 on the top surface, and the groove 53 on the bottom surface of the beam 50 each have the same structure as the groove 22 of the upper rail 20. That is, for example, the groove 51 on the side surface has a groove width that allows the nut 4A to be obliquely inserted from the opening near the side surface of the beam 50.

[0096] Furthermore, the groove width of the groove 51 further from the opening is wider than the groove width of the groove 51 near the opening. Therefore, when tightening, the nut 4A screwed with the bolt shaft of the bolt 3A inserted from the outside of the groove 51 is engaged with the two ribs of the opening toward the side of the beam 50. The groove 51 on the side surface, the groove 52 on the top surface, and the groove 53 on the bottom surface of the beam 50 can also be used to connect the beam 50 to the storage rack 40A or the storage rack 40B.

[0097] <Details of fixing the upper rail by the mounting section>

[0098] In this embodiment, the mounting portion 60 mounted on the beam portion 50 is T-shaped when viewed from above, that is, when viewed along the vertical direction (Z-axis direction). The first fixing portion 61 of the mounting portion 60 is equivalent to the horizontal portion of the T, and the second fixing portion 62 is equivalent to the vertical portion of the T. The first fixing portion 61 is a plate-shaped member that abuts against the side surface of the beam portion 50. That is, when the mounting portion 60 is mounted on the beam portion 50, the main surface of the first fixing portion 61 is parallel to the ZX plane.

[0099] The second fixing portion 62 is a plate-shaped member that contacts the top surface of the upper rail 20. That is, when the mounting portion 60 is mounted on the beam portion 50, the main surface of the second fixing portion 62 is parallel to the XY plane. Figure 5 As shown, when the mounting portion 60 mounted on the beam portion 50 is viewed from the front, that is, when viewed along the X-axis direction, the mounting portion 60 is L-shaped.

[0100] like Figure 4 and Figure 5As shown, two through holes for the bolt shafts of the bolts 3B to pass through are provided on the second fixing portion 62. The bolt shaft of the bolt 3B that passes through the through hole of the second fixing portion 62 is screwed and fastened to the nut 4B located on the top surface side of the upper rail 20 inside the groove 22, so that the mounting portion 60 and the upper rail 20 are fixed to each other. That is, the mounting portion 60 fixed to the upper rail 20 by the coupling member (bolt 3B, nut 4B) is fastened and fixed to the beam portion 50 by the coupling member (bolt 3A, nut 4A), so that the upper rail 20 is supported by the beam portion 50.

[0101] The groove 22 at the top surface of the upper rail 20 is formed continuously along the long side direction of the upper rail 20. Therefore, in a state where the fastening between the bolt 3B and the nut 4B is slightly loosened, the mounting portion 60 can move along the long side direction of the upper rail 20. In other words, when the fastening state between the mounting portion 60 and the upper rail 20 via the coupling member (bolt 3B, nut 4B) is loosened, the mounting portion 60 can move along the long side direction of the upper rail 20 in a state where the coupling member is fitted in the groove 22.

[0102] Similarly, two through holes for the bolt shafts of the bolts 3A to pass through are provided in the first fixing portion 61. The bolt shafts of the bolts 3A inserted through the through holes of the first fixing portion 61 are screwed and fastened to the nuts 4A located on the side of the beam portion 50 inside the groove portion 51, so that the mounting portion 60 and the beam portion 50 are fixed to each other.

[0103] The groove 51 on the side of the beam 50 is formed continuously along the long side direction of the beam 50. Therefore, in a state where the fastening between the bolt 3A and the nut 4A is slightly loosened, the mounting portion 60 can move relative to the beam 50 along the long side direction (X-axis direction) of the beam 50. In other words, when the fastening state between the mounting portion 60 and the beam 50 via the coupling member (bolt 3A, nut 4A) is loosened, the mounting portion 60 can move along the long side direction of the beam 50 in a state where the coupling member is fitted in the groove 51.

[0104] Therefore, when the upper rail 20 is mounted, the position of the upper rail 20 fixed to the beam 50 via the mounting portion 60 can be adjusted along the long side direction of the beam 50. Therefore, the position of the upper rail 20 can be adjusted along the X-axis direction with reference to the lower rail 10, so that the upper rail 20 can be easily positioned correctly relative to the lower rail 10.

[0105] <Overview of the method of setting up the transport system>

[0106] The following describes a method for assembling the transport system 1. The outline of the method for assembling the transport system 1 is as follows. First, the storage rack 40A and the storage rack 40B are mounted on the floor F. In addition, a plurality of beams 50 are laid between the storage rack 40A and the storage rack 40B.

[0107] The lower rail 10 is laid on the ground F (first step). In order to allow the stacking robot 30 to move smoothly, in the first step, the assembly is performed in a manner such that the horizontal height of the top surface of the left lower rail 11 is flush with the horizontal height of the top surface of the right lower rail 12. In addition, the assembly is performed in a manner such that the left lower rail 11 and the right lower rail 12 are both configured as straight lines and are parallel to each other. In order to correctly perform such assembly, when fixing the lower rail 10 relative to the ground F, a known appropriate fixing accessory 13 that can be used to adjust the position of the lower rail 10 can be used (see Fig. 9 ).

[0108] Then, the upper rail 20 is mounted in such a manner that it is supported by the beam 50 as described above (second step). In the second step, the mounting portion 60 fixed to the upper rail 20 is moved along the longitudinal direction (X-axis direction) of the beam 50 while the mounting portion 60 is loosely connected to the beam 50 by the engaging member fitted in the groove 51 of the beam 50. In this way, the position of the upper rail 20 relative to the lower rail 10 laid in the first step is adjusted.

[0109] Here, the position of the mark 21 provided on the upper rail 20 in the X-axis direction is adjusted based on the lower rail 10 laid in the first step, wherein the X-axis direction here is the horizontal direction (in-horizontal plane direction) orthogonal to the extension direction of the lower rail 10, thereby determining the installation position of the upper rail 20. In order to perform such adjustment, in the second step, a laser scriber 70 that can emit a laser beam in the in-plane direction of the plumb plane to form a linear irradiation line on the ceiling surface and an alignment aid 80 provided on the lower rail are used.

[0110] <Laser Scriber>

[0111] A laser scriber is a device that can irradiate a laser beam in a predetermined direction based on the direction of gravity to draw a horizontal irradiation line or a vertical irradiation line on the wall of a building, or a device that can draw an intersecting irradiation line on the ceiling surface where the vertical plane intersects the ceiling surface. Such laser scribers are generally available on the market and are widely used on construction sites of buildings.

[0112] Figure 8 This is a diagram for explaining the function of the laser scriber 70 used in the second step of the present embodiment. Figure 8The figure shows the operation of a laser scriber 70 used in the second step of the present embodiment, which is placed on the floor of a general room R of a building. The laser scriber 70 is a device that can emit a laser beam with a certain upward angle in a vertical plane (vertical plane in the direction of gravity) V to form a linear irradiation line 71 on the ceiling surface.

[0113] The laser marker 70 also emits a laser beam in a downward direction within the vertical plane V to draw a straight basic reference line 72 on the floor of the room R as a position reference of the vertical plane V. Therefore, the irradiation line 71 drawn on the ceiling surface of the room R and the basic reference line 72 drawn on the floor are both included in the same vertical plane V. That is, the irradiation line 71 drawn on the ceiling surface is located directly above the basic reference line 72 drawn on the floor. The irradiation line 71 on the ceiling surface is equivalent to the intersection line where the vertical plane V intersects with the ceiling surface of the room R. The basic reference line 72 is equivalent to the intersection line where the vertical plane V intersects with the floor of the room R.

[0114] The minimum functions of the laser scriber 70, which is a laser scriber applicable to the second step of the method for assembling the conveying system 1 in the present embodiment, are as described above. However, the laser scriber 70 may have a function of drawing a line orthogonal to the basic reference line 72 as an orthogonal reference line 73 on the floor of the room R in addition to the basic reference line 72. In this case, the intersection of the basic reference line 72 and the orthogonal reference line 73 may also serve as a reference for the position of the laser scriber 70 in the direction along the basic reference line 72.

[0115] The laser scriber 70 can also emit the laser beam at a larger upward angle range within the vertical plane V. Figure 8 As shown by the dotted line in FIG. 7 , a plumb line 71A, which is an irradiation line irradiating the wall surface of the room R, is drawn. The plumb line 71A corresponds to the intersection line where the plumb plane V and the wall surface of the room R intersect.

[0116] <Positioning aids>

[0117] Fig. 9 FIG. 8 is a side view of the positioning aid 80 used in the second step of this embodiment. Fig. 9 , a state in which the positioning jig 80 is installed on the lower rail 10 and the laser scriber 70 is mounted on the positioning jig 80 is also shown.

[0118] Fig.10 It is a top view of the positioning aid 80 . Fig.1180 is a front view of the alignment tool 80. The alignment tool 80 is composed of a flat plate 81 and a ridge 82. The flat plate 81 is composed of a plate having a flat top surface and is installed between the left lower rail 11 and the right lower rail 12. The flat plate 81 has a rectangular shape. When the flat plate 81 is installed between the left lower rail 11 and the right lower rail 12, Fig.10 As shown, the long side direction (X-axis direction) of the rectangle is orthogonal to the extending direction of the lower rail 10 .

[0119] The bottom surfaces at both ends of the flat plate portion 81 are respectively formed with cutout portions 81A that fit with the left lower rail 11 and the right lower rail 12. The cutout portions 81A are configured such that when the positioning aid 80 is set on the lower rail 10, the flat plate portion 81 fits with the left lower rail 11 and the right lower rail 12 without play in a direction (X-axis direction) orthogonal to the extending direction of the lower rail 10.

[0120] The ridge 82 is a component mounted on the bottom surface of the flat plate portion 81 to strengthen the flat plate portion 81. By providing the ridge 82 on the bottom surface of the flat plate portion 81, when the positioning aid 80 is installed between the left lower rail 11 and the right lower rail 12, the flat plate portion 81 can be prevented from bending. The ridge 82 extends in a direction (X-axis direction) orthogonal to the extending direction of the lower rail 10, and it is preferred that the ridge 82 be installed in a manner such that it is located in the center of the flat plate portion 81.

[0121] like Fig.10 As shown, a first reference line 83 is formed on the top surface of the flat plate portion 81. The first reference line 83 of the positioning aid 80 when set on the lower rail 10 is a straight line parallel to the extension direction of the lower rail 10, which becomes the reference line of the position reference of the upper rail 20. Therefore, according to the positional relationship between the left lower rail 11, the right lower rail 12, and the upper rail 20 determined by the rail design, the first reference line 83 is drawn at a predetermined position on the top surface of the flat plate portion 81.

[0122] For example, in the present embodiment where the upper rail 20 is located in the middle between the left lower rail 11 and the right lower rail 12 in a plan view, the first reference line 83 is located at the center of the side (X-axis side) of the alignment tool 80 that is orthogonal to the extending direction of the lower rail 10. The alignment tool 80 only needs to have at least the first reference line 83 formed thereon. Fig.10 As shown, the second reference line 84 orthogonal to the first reference line 83 may be further formed on the positioning aid 80, but it may not be formed.

[0123] The second reference line 84 of the positioning aid 80 when placed on the lower rail 10 is a line perpendicular to the X-axis direction, which is the extension direction of the lower rail 10. The first reference line 83 and the second reference line 84 can be formed as grooves on the top surface of the flat plate portion 81 by a method such as engraving, or can be drawn on the top surface of the flat plate portion 81.

[0124] <Details of Positioning Processing in Step 2>

[0125] Next, the method for positioning the upper rail 20 relative to the lower rail 10 for assembly in the second step of the method for assembling the conveying system 1 will be described in detail. First, the positioning aid 80 is set on the lower rail 10. Fig. 9 As shown, in this embodiment, the positioning aid 80 is provided so that the flat plate portion 81 is bridged between the left lower rail 11 and the right lower rail 12 .

[0126] Then, the laser scriber 70 is placed on the alignment tool 80. The laser scriber 70 irradiates a laser beam to draw at least the basic reference line 72 on the alignment tool 80. The irradiation of the laser scriber 70 or the placement position or angle of the laser scriber 70 is adjusted so that the basic reference line 72 irradiated by the laser scriber 70 is aligned with the first reference line 83 on the top surface of the alignment tool 80.

[0127] When the basic reference line 72 of the laser scriber 70 is aligned with the first reference line 83 on the top surface of the positioning aid 80, the adjustment of the placement position of the laser scriber 70 on the positioning aid 80 is completed. Figure 8 ) includes the first reference line 83 in the plane. As a result, the laser scriber 70 can draw the irradiation line 71 just above the first reference line 83 and the extension line of the first reference line 83.

[0128] In addition, if the laser scriber 70 can also draw an orthogonal reference line 73, the orthogonal reference line 73 can be further used to adjust the placement position and angle of the laser scriber 70. The second reference line 84 is formed on the top surface of the flat plate portion 81 of the positioning aid 80 to be longer than the first reference line. Therefore, by adjusting the second reference line 84 to be aligned with the orthogonal reference line 73, the horizontal rotation azimuth of the vertical plane V of the laser emitted by the laser scriber 70 relative to the horizontal plane can be more accurately adjusted.

[0129] The laser scriber 70 is made to draw the irradiation line 71, and the mounting position of the upper rail 20 in the X-axis direction is adjusted so that the mark 21 on the bottom surface of the upper rail 20 at the mounting position is aligned with the irradiation line 71. During the adjustment, as described above, the fastening state between the mounting portion 60 and the beam portion 50 via the coupling member (bolt 3A, nut 4A) is loosened so that the mounting portion 60 fixed to the upper rail 20 can move along the long side direction of the beam portion 50, thereby adjusting the position.

[0130] Fig.12 and Fig.13 This is an explanatory diagram of adjusting the position of the upper rail 20 through the above-mentioned procedure. Fig.12 FIG. 2 shows a state in which the fastening state between the mounting portion 60 and the beam portion 50 via the coupling member (bolt 3A, nut 4A) is loosened and the upper rail 20 is preliminarily fixed to the beam portion 50 via the mounting portion 60. Fig.12 In the figure, the vertical plane V including the basic reference line 72 of the positioning aid 80 is located at a position deviated in the positive X-axis direction relative to the mark 21 of the upper rail 20 .

[0131] exist Fig.12 In the condition shown, the laser beam emitted by the laser scriber 70, which is directed upward in the vertical plane V, forms an irradiation line 71 at the position indicated by the arrow Lp on the bottom surface of the beam portion 50. Therefore, the operator can easily recognize whether the mark 21 deviates from the formation position (arrow Lp) of the irradiation line 71, thereby adjusting the upper rail 20 and the mounting portion 60 in accordance with the irradiation line 71. Fig.12 The beam portion 50 moves in the direction indicated by the arrow Dx.

[0132] Thus, the operator Fig.13 As shown in the figure, by adjusting the position of the upper rail 20, the position where the irradiation line 71 is formed as indicated by the arrow Lp is aligned with the mark 21 of the upper rail 20. Then, the operator uses the coupling parts (bolts 3A, nuts 4A) to fasten the mounting portion 60 and the beam portion 50, that is, to perform the so-called formal fastening, thereby fitting the upper rail 20 to the desired position. By performing such operations sequentially from one end of the upper rail 20, the upper rail 20 can be assembled to the correct position relative to the lower rail 10.

[0133] According to this embodiment, the upper rail 20 can be mounted so that the position of the upper rail 20 relative to the lower rail 10 in the X-axis direction (a direction perpendicular to the extending direction of the lower rail 10 in the horizontal plane) is accurate as designed. Therefore, the stacking robot 3 guided by the upper rail 20 can move stably.

[0134] The installation of the upper rail 20 is a high-altitude operation, so the work load is large and the installation in the correct position is accompanied by difficulties. However, according to the present embodiment, the position of the upper rail 20 in the X-axis direction can be adjusted in the pre-fixed state in which the upper rail 20 is suspended on the beam 50. In addition, the operator can easily confirm the position even at a high place by using the mark 21 and the irradiation line 71. Therefore, according to the present embodiment, a method for assembling a conveying system that can more easily perform the correct installation of the upper rail than before can be realized.

[0135] (Variation Example)

[0136] Regarding the track of the stacking robot arm, it is also possible to adopt a single track scheme with one lower track instead of a scheme in which multiple lower tracks 10 are arranged in parallel. In this case, the positioning auxiliary tool is not arranged between multiple tracks as in the above embodiment, but is changed to a structure that can be arranged on a single track.

[0137] Although the above embodiment shows that the mounting portion 60 can be fastened to the side of the beam portion 50, the mounting portion is not limited thereto. The mounting portion may also be a structure in which the groove portion 52 can be fastened to the top side of the beam portion 50 by an engaging member. Figure 5 Instead of a pair of mounting portions separated in the front-rear direction (Y-axis direction) for mounting the beam portion 50 as shown, an integral mounting portion that is not separated in the front-rear direction and can be mounted on the beam portion 50 is formed.

[0138] Alternatively, the mounting portion 60 may also be a structure that can be fastened to the groove portion 53 on the bottom side of the beam portion 50 by an engaging member. Figure 5 Instead of a pair of mounting portions separated in the front-rear direction (Y-axis direction) for mounting the beam portion 50 as shown, an integral mounting portion that is not separated in the front-rear direction and can be mounted on the beam portion 50 is formed.

[0139] Although in the above-mentioned embodiment, the mounting portion 60 is a component that is fixed to the upper rail 20 by the engaging components (bolts 3B, nuts 4B) and is different from the upper rail 20, the mounting portion is not limited thereto. For example, the mounting portion may be fixed to the upper rail by welding or the like. Alternatively, the mounting portion may be formed as an integral component with the upper rail.

[0140] 〔Summarize〕

[0141] The conveying system involved in aspect 1 of the present invention comprises: a lower rail, wherein a conveying device for conveying articles moves on the lower rail; an upper rail, which is used to guide the conveying device at a position higher than the lower rail; a storage shelf, which is provided as a pair on both sides of the lower rail and is used to store the articles; a beam portion, which is erected between the pair of the storage shelves; and a mounting portion, which is used to connect the upper rail to the beam portion, and the beam portion has a groove portion extending along the long side direction of the beam portion, and a connecting component can be embedded in the groove portion. When the mounting portion is fastened to the beam portion via the connecting component, the upper rail is supported by the beam portion.

[0142] In the conveying system involved in aspect 2 of the present invention based on aspect 1, when the fastening between the mounting portion and the beam portion via the connecting member is loosened, the mounting portion can move along the long side direction of the beam portion with the connecting member engaged in the groove portion.

[0143] In the conveying system according to aspect 3 of the present invention based on aspect 1 or 2, the conveying device has at least a pair of guide rollers each capable of rolling on both side surfaces of the upper rail.

[0144] In the transport system according to aspect 4 of the present invention based on any one of aspects 1 to 3, marks extending along the long side direction of the upper rail or arranged in series along the long side direction are formed on the bottom surface of the upper rail.

[0145] In the method for assembling a conveying system involved in aspect 5 of the present invention, the conveying system comprises: a lower rail, wherein a conveying device for conveying articles moves on the lower rail; an upper rail, which is used to guide the conveying device at a position higher than the lower rail; a storage shelf, which is provided as a pair on both sides of the lower rail and is used to store the articles; a beam portion, which is erected between the pair of the storage shelves; and an installation portion, which is used to connect the upper rail to the beam portion, and the beam portion has a groove portion extending along the long side direction of the beam portion, and the connecting component can be embedded in the groove portion, and the installation portion When the mounting portion is fastened to the beam portion via the coupling component, the upper rail is supported by the beam portion. The assembly method of the conveying system includes a first step of laying the lower rail and a second step of assembling the upper rail, and the second step includes the following sub-steps: when the mounting portion is loosely coupled to the beam portion via the coupling component engaged in the groove portion, the mounting portion fixed to the upper rail is moved along the long side direction of the beam portion, thereby adjusting the position of the upper rail relative to the lower rail laid in the first step.

[0146] In the method for assembling a conveying system according to aspect 6 of the present invention based on aspect 5, marks extending in the long side direction of the upper rail or arranged in series in the long side direction are formed on the upper rail, and in the second process, a laser scriber capable of emitting a laser beam in a direction within a vertical plane to form a linear irradiation line on a ceiling surface and an alignment tool provided on the lower rail are used, and the second process includes a sub-process of providing the alignment tool on the lower rail and a sub-process of providing the laser scriber on the alignment tool provided on the lower rail, and in the sub-process of adjusting the position of the upper rail, the laser beam is emitted from the laser scriber carried on the alignment tool at an angle of at least an upward tilt within a vertical plane parallel to the long side direction of the lower rail, thereby adjusting the position of the upper rail until the laser beam irradiates the mark.

[0147] In the conveying system according to aspect 7 of the present invention based on any one of aspects 1 to 4, the mounting portion is fastened and fixed to the side surface of the beam portion via the connecting member.

[0148] In the transport system according to aspect 8 of the present invention based on any one of aspects 1 to 4 or aspect 7, the mounting portion is fixed to the top surface of the upper rail.

[0149] In the method for assembling a conveying system involved in aspect 9 of the present invention, the conveying system comprises: a lower rail, wherein a conveying device moves on the lower rail; and an upper rail, which is used to guide the conveying device at a position higher than the lower rail. The method for assembling the conveying system includes a first step of laying the lower rail and a second step of installing the upper rail. Marks extending along the long side direction of the upper rail or arranged in series along the long side direction are formed on the upper rail. In the second step, the position of the mark in a direction perpendicular to and horizontal to the long side direction of the lower rail is adjusted based on the lower rail laid in the first step, thereby determining the installation position of the upper rail.

[0150] In the method for assembling a conveying system of aspect 10 of the present invention based on aspect 9, the second process uses a laser scriber capable of emitting a laser beam in a direction within a vertical plane to form a linear irradiation line on a ceiling surface, and an alignment aid disposed on the lower rail. The second process includes a sub-process of disposing the alignment aid on the lower rail, and a sub-process of adjusting the mounting position of the upper rail. In the sub-process of adjusting the mounting position of the upper rail, the laser scriber carried on the alignment aid disposed on the lower rail emits the laser beam at an angle of at least an upward tilt within a vertical plane parallel to the long side direction of the lower rail, thereby adjusting the position of the upper rail until the laser beam irradiates the mark.

[0151] In the method for assembling a conveying system according to aspect 11 of the present invention based on aspect 9 or 10, a reference line is drawn on the top surface of the positioning aid, and the reference line serves as a position reference for the laser beam emitted from the laser scriber, and the second process includes a sub-process of using the reference line to adjust the vertical plane in the plane containing the emission direction of the laser beam to be consistent with the long side direction of the lower rail.

[0152] In the method for assembling a conveying system according to aspect 12 of the present invention based on any one of aspects 9 to 11, in the first step, a pair of the lower rails are laid parallel to each other, and in the second step, the positioning aid is arranged so as to straddle the pair of the lower rails.

[0153] The conveying system involved in aspect 13 of the present invention includes: a lower rail, wherein a conveying device for conveying articles moves on the lower rail; an upper rail, which is used to guide the conveying device at a position higher than the lower rail; storage shelves, which are arranged in a pair on both sides of the lower rail and are used to accommodate the articles; and a beam portion, which is erected between the pair of storage shelves, and the upper rail is supported by the beam portion, and marks extending along the long side direction of the upper rail or arranged in series along the long side direction are formed on the bottom surface of the upper rail.

[0154] The present invention is not limited to the above-mentioned embodiments, aspects, etc., and various changes can be made within the scope of the technical ideas described in the specification. The embodiments obtained by appropriately combining different technical means disclosed in different embodiments, aspects, etc. are also included in the technical scope of the present invention.

Claims

1. A conveying system comprising: a lower track on which a transport device for transporting articles moves; an upper rail for guiding the conveying device at a higher position than the lower rail; A pair of receiving shelves is provided on both sides of the lower track for receiving the articles; a beam portion, which is erected between the pair of storage shelves; and A mounting portion, which is used to connect the upper rail to the beam portion, and, The beam portion has a groove portion extending along the longitudinal direction of the beam portion, and the engaging member can be fitted into the groove portion. When the mounting portion is fastened and fixed to the beam portion via the connecting member, the upper rail is supported by the beam portion.

2. The conveying system according to claim 1, wherein: When the fastening between the mounting portion and the beam portion via the connecting member is released, the mounting portion can be moved along the longitudinal direction of the beam portion in a state where the connecting member is fitted in the groove portion.

3. The conveying system according to claim 1, wherein: The conveying device includes at least a pair of guide rollers each capable of rolling on both side surfaces of the upper rail.

4. The conveying system according to any one of claims 1 to 3, wherein: Marks extending along the long side direction of the upper rail or arranged in series along the long side direction are formed on the bottom surface of the upper rail.

5. A method for assembling a conveying system, wherein: The conveying system comprises: a lower rail, wherein a conveying device for conveying articles moves on the lower rail; an upper rail, which is used to guide the conveying device at a position higher than the lower rail; a storage rack, which is provided as a pair on both sides of the lower rail and is used to store the articles; a beam, which is erected between the pair of storage racks; and a mounting portion, which is used to connect the upper rail to the beam, and the beam has a groove extending along the long side direction of the beam, and an engaging member can be fitted into the groove. When the mounting portion is fastened to the beam via the engaging member, the upper rail is supported by the beam. The assembly method of the conveying system includes: The first step of laying the lower rail and the second step of installing the upper rail, The second step includes the following sub-steps: In a state where the mounting portion is loosely coupled to the beam portion via the engaging member engaged in the groove portion, the mounting portion fixed to the upper rail is moved along the long side direction of the beam portion, thereby adjusting the position of the upper rail relative to the lower rail laid in the first step.

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