Conveying system

Abstract

The conveying system of the present invention comprises a built-in motor drum (C-M built-in drum) for a conveyor and a switching device. The C-M built-in drum is provided with a control unit for controlling the motor in accordance with the control content included in the control signal received by the communication unit in the drum tube, the control content included in the control signal received by the communication unit is output to the switching device, and the switching device stores the control content. Moreover, if the C-M built-in drum judges that the communication is abnormal, the C-M built-in drum outputs the communication abnormality to the switching device, and the switching device correspondingly enables the control part to control the motor according to the stored control content.

Description

Technical Field

[0001] The present invention relates to a conveying system including a conveyor motor-built-in roller used in a conveying device and a switching device for switching a control source. Background Art

[0002] Conveyor devices are often used to move objects, for example, in production sites and distribution sites. The conveyor devices are roughly divided into roller conveyor devices and belt conveyor devices. The roller conveyor device is a device that has a plurality of rollers arranged in parallel in one direction, and uses the top of the plurality of rollers as a moving channel (conveying channel) to move (convey) objects (conveying objects). The belt conveyor device is a device that has a plurality of rollers arranged in parallel in one direction and a conveyor belt sleeved on the plurality of rollers, and uses the top of the conveyor belt as a moving channel to move objects. The plurality of rollers in these roller conveyor devices and belt conveyor devices include: a built-in motor roller (driving roller) that has a built-in motor and rotates using the driving force generated by the motor; and a roller (driven roller, free roller) that rotates with the rotation of the built-in motor roller, for example, through the sleeved belt and the moving object. The motor of the built-in motor roller is driven by a motor drive device (motor control device) installed outside the built-in motor roller, such as a conveyor frame (conveying rack) (see, for example, Patent Documents 1 and 2). Furthermore, by incorporating the motor drive device into the built-in motor drum, the conveying device can be simplified.

[0003] On the other hand, in recent years, various objects have been connected to a communication network through IoT (Internet of Things). One method of connecting the object to a communication network is known as IO-Link. The IO-Link is an I / O connection technology standardized by IEC61131-9 for communicating with devices. It is a technology that enables the device to have a communication interface that complies with the IO-Link standard and can implement communication signals bidirectionally with the host system. A device with a communication interface that complies with the IO-Link standard is called an IO-Link device. The IO-Link device has a hub function, is connected to an IO-Link host connected to a communication network, and communicates with the host system via the IO-Link host and the communication network.

[0004] Consider setting the motor drive device as an IO-Link device and centrally controlling the motor drive device in the upper system via the IO-Link host and the communication network. In this case, if a communication anomaly (communication failure) occurs in the communication network, the conveyor device may stop or operate in an uncontrolled state.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Publication No. 2014-068501

[0008] Patent Document 2: Japanese Patent Publication No. 2018-177441 Summary of the invention

[0009] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a conveying system capable of operating a conveying device in a designated control method even when a communication abnormality occurs.

[0010] The conveying system to which the present invention relates includes a conveyor roller with a built-in motor and a switching device. The conveyor roller with a built-in motor has a control unit inside the roller tube that controls the motor according to the control content contained in the control signal received by the communication unit, and outputs the control content contained in the control signal received by the communication unit to the switching device, and the switching device stores the control content. In addition, if the conveyor roller with a built-in motor determines that there is a communication abnormality, the communication abnormality is output to the switching device, and when the communication abnormality is input, the switching device allows the control unit to control the motor according to the stored control content. This conveying system can operate the conveying device in a specified control method even when a communication abnormality occurs.

[0011] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a top view of the conveying device in the embodiment.

[0013] Figure 2 This is a partial cross-sectional view for explaining the structure of a conveyor motor-built-in roller used in the conveyor device.

[0014] Figure 3 This is a block diagram for explaining the configuration of a communication control processing unit and a switching device of the conveyor motor-built-in roller.

[0015] Figure 4 This is a circuit diagram showing a circuit configuration of the communication control processing unit as an example.

[0016] Figure 5 It is used to illustrate Figure 4 The circuit diagram shown is a diagram of level shifters 54 and 55.

[0017] Figure 6This is a flowchart showing the operation of the communication control processing unit.

[0018] Figure 7 This is a first sequence diagram showing the operations of the hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and the switching device CD.

[0019] Figure 8 This is a second sequence diagram showing the operations of the hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and the switching device CD.

[0020] Fig. 9 It is a top view of the conveying device according to the first variation embodiment. DETAILED DESCRIPTION

[0021] One or more embodiments of the present invention are described below with reference to the accompanying drawings. However, the scope of the invention is not limited to the disclosed embodiments. In addition, structures with the same symbols in each figure represent the same structure, and their descriptions are appropriately omitted. In this specification, reference symbols with suffixes omitted are used to represent general terms, and reference symbols with suffixes attached are used to represent individual structures.

[0022] The conveying system in the embodiment includes a conveyor motor roller and a switching device. In the present embodiment, the conveying system further includes a conveying device, which includes a roller-type conveying device. The conveyor motor roller includes: a communication unit; a roller tube; a pair of support shafts that are arranged opposite to each other and rotatably support the roller tube; a motor that is arranged inside the roller tube and generates a driving force to rotate the roller tube; a control unit that is arranged inside the roller tube and controls the motor according to the control content included in the control signal received by the communication unit; and a first processing unit that is arranged inside the roller tube and outputs the control content included in the control signal received by the communication unit to the switching device. The switching device includes: a storage unit; and a second processing unit that stores the control content in the storage unit when the control content is input from the conveyor motor roller. The first processing unit also determines whether there is a communication abnormality, and when it is determined that there is a communication abnormality (when it is determined that there is a communication abnormality), the communication abnormality is output to the switching device. The second processing unit also controls the control unit to control the motor according to the stored control content when the communication anomaly is input from the conveyor built-in motor roller. The conveying device of the roller-type conveyor device includes a plurality of rollers arranged in parallel in one direction, and an object is moved using the top surfaces of the plurality of rollers as a moving path. The plurality of rollers include one or more conveyor built-in motor rollers. The conveying system will be described in more detail below by describing these conveyor built-in motor rollers, the switching device, and the conveying device in more detail.

[0023] Figure 1 It is a top view of the conveying device according to the embodiment. Figure 2 This is a partial cross-sectional view for explaining the structure of a conveyor motor-built-in roller used in the conveyor device. Figure 3 This is a block diagram for explaining the structure of the communication control processing unit and the switching device of the conveyor motor roller. Figure 3 The structure of a second variation embodiment described later is shown by a dotted line. Figure 4 This is a circuit diagram showing a circuit configuration of the communication control processing unit as an example. Figure 5 It is used to illustrate Figure 4 The circuit diagram shown is a diagram of the level converters 54, 55. Figure 5 A is a diagram for explaining the level converter 54, wherein the horizontal axis represents input voltage and the vertical axis represents output voltage corresponding to a set rotation direction (target rotation direction (forward rotation CW, reverse rotation CCW)). Figure 5 B is a diagram for explaining the level converter 55, wherein the horizontal axis represents the input voltage and the vertical axis represents the set speed (target speed) [min-1 ](set rotation speed (target rotation speed) [rpm]) corresponding to the output voltage.

[0024] The conveying device CS of the embodiment is provided with, for example, Figure 1 The roller conveyor CS is a roller conveyor device CS in which a plurality of rollers MR and FR are arranged in parallel in one direction and the upper surfaces of the plurality of rollers MR and FR are used as a moving channel (conveying channel) to move an object (conveying object) Ob. Figure 1 In FIG. 1 , the object Ob is indicated by a double-dashed line.

[0025] More specifically, the roller conveyor device CS includes: a pair of first and second conveyor frames (conveyor racks) CFa and CFb; one or more conveyor motor built-in rollers MR; one or more driven rollers FR; and one or more belts BT.

[0026] The first and second conveyor frames CFa and CFb are components that are long in one direction and that rotatably support the conveyor's built-in motor roller (motor roller, hereinafter appropriately referred to as "CM built-in roller") MR and driven roller (free roller) FR, and are arranged to be opposite to each other at a specified interval (first interval) in a direction perpendicular to the one direction and parallel to the one direction. The first interval is an appropriate interval corresponding to the size of the conveyed object Ob conveyed by the roller conveyor device CS, and the respective lengths of the CM built-in roller MR and the driven roller FR are set according to the first interval. The first and second conveyor frames CFa and CFb have a cross-section that is roughly in the shape of the letter E (a shape in which the center "-" of the English letter E is removed) in order to improve strength, for example, and are formed using iron-based metals (including alloys) such as SPC (Steel Plate Cold). A plurality of through openings (not shown) for inserting the first and second support shafts 2a, 2b of the CM built-in roller MR and the first and second support shafts AXa, AXb of the driven roller FR described later are formed at predetermined intervals (second intervals) along the one direction. The first and second support shafts 2a, 2b of the CM built-in roller MR are respectively inserted through the through openings of the first and second conveyor frames CFa, CF, and are respectively fixed to the first and second conveyor frames CFa, CFb by means of fixing members (not shown). The first and second support shafts AXa, AXb of the driven roller FR are respectively inserted through the through openings of the first and second conveyor frames CFa, CFb, and are respectively fixed to the first and second conveyor frames CFa, CFb by screwing nuts (not shown) into threads formed on the first and second support shafts AXa, AXb, for example.

[0027] The plurality of CM built-in rollers MR are arranged in parallel in one direction with two driven rollers FR arranged in parallel in one direction interposed therebetween. Figure 1 In the example shown, every three CM built-in rollers MR are arranged in parallel along the one direction, and two driven rollers FR are arranged in parallel along the one direction between two adjacent CM built-in rollers MR. Therefore, these multiple CM built-in rollers MR and multiple driven rollers FR are parallel to each other in a direction perpendicular to the one direction. Among these multiple CM built-in rollers MR and multiple driven rollers FR, one CM built-in roller MR and two driven rollers FR adjacent to each other in the one direction across the CM built-in roller MR are connected by a belt BT wound at one end, and if the one CM built-in roller MR rotates, the rotation of the one CM built-in roller MR is transmitted to the two driven rollers FR through the belt BT, and the two driven rollers FR rotate respectively. According to this, the object (transport object) Ob placed on the multiple CM built-in rollers MR and the multiple driven rollers FR can be moved (transported).

[0028] The conveyor motor built-in roller MR used in the roller conveyor device CS is, for example, Figure 2 As shown. More specifically, the CM built-in roller MR includes a cylindrical roller tube 1 of a predetermined length (first length) formed of, for example, an iron-based metal (including alloy) such as mechanical structural carbon steel. A first cover member 7a, which is a member for closing the one end, is fixedly installed at one end of the roller tube 1, and a second cover member 7b, which is a member for closing the other end, is fixedly installed at the other end. A first bearing (not shown) is provided in the first cover member 7a, and the first bearing supports the first support shaft 2a rotatably through a cylindrical connecting member 9 formed of, for example, an iron-based metal (including alloy) such as mechanical structural carbon steel (for example, S45C). The connecting member 9 is inserted through the first support shaft 2a and fixedly installed to the first support shaft 2a. A through opening is provided in the first cover member 7a, which penetrates along the central axis of the roller tube 1 and inserts the first support shaft 2a through the connecting member 9. Similarly, a second bearing (not shown) is provided in the second cover member 7b, and the second bearing supports the second support shaft 2b rotatably. The second cover member 9b is provided with a through opening that penetrates along the central axis and inserts the second support shaft 2b. The first support shaft 2a is a hollow columnar member formed of, for example, an iron-based metal (including an alloy) for inserting a cable CB connected to the communication control processing unit 4 described later. The second support shaft 2b is a cylindrical member.

[0029] According to this structure, the roller tube 1 is rotatably supported by the first and second support shafts 2a and 2b provided to protrude from the first and second conveyor frames CFa and CFb, respectively.

[0030] The CM built-in roller MR has a motor 3 built into the roller tube 1. More specifically, the motor 3 is housed in a cylindrical internal frame 8 having a diameter smaller than the roller tube 1 and formed of a metal (including alloys) such as aluminum and having a predetermined length (second length), and the internal frame 8 is housed in the roller tube 1 with a gap between it and the inner circumferential surface of the roller tube 1, so that the roller tube 1 can rotate relative to the internal frame 8.

[0031] In other parts on other sides of the internal frame 8, a reducer 5 composed of planetary gears and the like is fixedly accommodated in the internal frame 8, and a cylindrical intermediate plate 6 is fixedly connected to the output shaft of the reducer 5, and the outer peripheral surface of the intermediate plate 6 is fixedly connected to the inner peripheral surface of the drum tube 1. A motor 3 fixedly accommodated in the internal frame 8 is provided on one side of the reducer 5, and the output shaft of the motor 3 is connected to the input part of the reducer 5. According to this structure, if the output shaft of the motor 3 rotates, the intermediate plate 6 rotates through the reducer 5, and the drum tube 1 rotates along with the rotation of the intermediate plate 6. As described above, the motor 3 is disposed inside the drum tube 1 through the internal frame 8 and generates a driving force for rotating the drum tube 1. The motor 3 can be a motor of a suitable type. Figure 2 In the example shown, it is a radial gap inner rotor type motor, in which the rotor has a plurality of permanent magnets and the stator has a plurality of coils. The rotor rotates by utilizing the interaction between the rotating magnetic field generated by respectively energizing the plurality of coils and the magnetic fields of the plurality of permanent magnets, and the output shaft rotates.

[0032] A connection member 9 that blocks one end of the inner frame 8 is fixedly mounted. Thus, the inner frame 8 is fixed to the first support shaft 2a via the connection member 9.

[0033] A communication control processing unit 4 is provided between the motor 3 and the connection member 9. The communication control processing unit 4 is a circuit for communicating with an external device, inputting and outputting data with the switching device CD, and controlling the motor 3 to drive the motor 3. More specifically, the communication control processing unit 4 is, for example, Figure 3As shown, it is connected to the hub (Hub) MS and the switching device CD respectively through the cable CB, and has a control unit 40, a first processing unit 461 and a communication unit 50. In the present embodiment, the external device is a conveyor management device (host device) SV that centrally manages the CM built-in rollers MR. The conveyor management device SV includes, for example, a computer with a communication function, for example, sending a control signal containing the control content of the motor 3 of the CM built-in rollers MR. A relatively large number of CM built-in rollers MR are usually provided in the conveyor device CS. Therefore, by centrally managing them with the conveyor management device SV, these CM built-in rollers MR can be efficiently managed. The hub MS is connected to the conveyor management device SV through a communication network NW such as a LAN (Local Area Network) or a WAN (Wide Area Network).

[0034] The communication unit 50 is used to communicate with an external device. In the present embodiment, the CM built-in roller MR is connected to the conveyor management device SV through the communication unit 50 and via the cable CB, the hub MS and the communication network NW so as to be able to communicate with the conveyor management device SV. The communication unit 50 is an interface that selectively performs one of bidirectional communication and data input and output. The communication unit 50 performs bidirectional communication one-to-one with the conveyor management device SV and performs data input and output with the switching device CD. The communication unit 50 is, for example, an interface that complies with the IO-Link standard. In this case, the hub MS includes a so-called IO-Link host.

[0035] The control unit 40 controls the motor 3 according to the control content included in the control signal received by the communication unit 50. The control unit 40 controls the motor 3 according to the control content, for example, by starting, accelerating, maintaining speed, decelerating, stopping, forward CW rotation, and reverse CCW rotation. Therefore, as the control content, the control signal includes a set speed (target speed) [min -1 ](Set rotation speed (target rotation speed) [rpm]) (including setting speed 0 [min -1 ]) and set the rotation direction (target rotation direction).

[0036] The first processing unit 461 outputs the control content included in the control signal received by the communication unit 50 to the switching device CD.

[0037] The specific circuit of the communication control processing unit 4 will be described later.

[0038] The switching device CD is a device that switches the control source (control body) according to the communication status of the communication unit 50. When the communication is normal and the communication unit 50 can send and receive communication signals, the control source is switched to the conveyor management device SV so that the control unit 40 controls the motor 3 with the control content included in the control signal of the conveyor management device SV. For example, when the communication is abnormal (communication failure) in the communication network NW and the communication unit 50 cannot send and receive communication signals, the control source is switched to the switching device CD so that the control unit 40 controls the motor 3 with the control content stored in the switching device CD. The switching device CD is, for example, Figure 3 As shown, the second processing unit 61 and the storage unit 62 are provided, for example, including a single chip microcomputer. The storage unit 62 stores data such as control contents. When the second processing unit 61 receives control contents from the CM built-in roller MR, the second processing unit 61 stores the control contents in the storage unit 62.

[0039] Furthermore, in the present embodiment, the first processing unit 461 in the communication control processing unit 4 further determines whether there is a communication abnormality, and when it is determined that there is the communication abnormality, the communication abnormality is output to the switching device CD. The switching device CD also causes the control unit 40 to control the motor according to the control content stored in the storage unit 62 when the communication abnormality is input from the CM built-in roller MR.

[0040] The specific circuit of the communication control processing unit 4 is described. Figure 4 As shown, the communication control processing unit 4 includes a capacitor 51, an IO-Link communication IC (IO-Link Trans'IC) (hereinafter, appropriately abbreviated as "Trans'IC") 52, a transmission microcontroller (Comm'MCU) 53, a level converter (Level Shifter) (hereinafter, appropriately abbreviated as "Shifter") 54, 55, an inverter (Inverter) 41, a current sensor (Current Sensor) 42, a Hall sensor (Hall Sensor) 43, a voltage sensor (Voltage Sensor) 44, a temperature sensor (Thermal Sensor) 45, a motor control MCU (hereinafter, appropriately abbreviated as "MC-MCU") 46, and a connector CN having five first to fifth pins (Pin, terminals) PN1 to PN5, which is connected to the cable CB through the connector CN.

[0041] The first pin PN1 is a power terminal connected to the power line LN1, and the third pin PN3 is a ground terminal connected to the ground line LN2. Power for driving the motor 3 is supplied to the first and third pins PN1 and PN3. The first and third pins PN1 and PN3 are connected to the two power lines of the cable CB. In the present embodiment, 24 [V] and 3 [V] DC power is supplied. A smoothing capacitor 51 is connected between the power line LN1 and the ground line LN2. The power line LN1 and the ground line LN2 are respectively connected to the MC-MCU46 and the inverter 41, and DC power is supplied to them respectively. Trans'IC52 is respectively connected to the fifth pin PN5 and the ground line LN2, and DC power is supplied from the fifth pin PN5, for example, at 24 [V]. DC power is supplied from Trans'IC52 to Comm'MCU53, for example, at 5 [V].

[0042] MC-MCU46 includes an IC chip of model NM18101Y, for example, and is connected to Trans'IC52, Comm'MCU53, Shifter54, 55, inverter 41, current sensor 42, Hall sensor 43, voltage sensor 44, and temperature sensor 45, respectively. The current sensor 42 measures the current of the power supplied to the motor 3, and outputs the current value of the measurement result to the MC-MCU46. The Hall sensor 43 measures the magnetic force (magnetic flux density) to measure the rotor position of the motor 3, and outputs the magnetic force of the measurement result to the MC-MCU46. The Hall sensor 43, for example, includes three Hall sensors 43-1 to 43-3 (not shown) arranged at intervals of 120 degrees along the circumferential direction on the outer periphery of the rotor of the motor 3, and the MC-MCU46 obtains the rotor position every 60 degrees based on the magnetic forces H1 to H3 of each of the output measurement results. The voltage sensor 44 measures the voltage of the power supplied to the motor 3, and outputs the voltage value of the measurement result to the MC-MCU46. The temperature sensor 45 measures the temperature of the motor 3 (the temperature of the surrounding environment of the motor 3) and outputs the temperature of the measurement result to the MC-MCU 46. The MC-MCU 46 controls the motor 3 by controlling the inverter 41 based on the current value measured by the current sensor 42, the voltage value measured by the voltage sensor 44, and the rotor position obtained from the measurement result of the Hall sensor 43 in a manner that becomes the control content (set speed (target speed) and set rotation direction (target rotation direction)) from the Comm'MCU 53 or the control content (set speed (target speed) and set rotation direction (target rotation direction)) from the Shifter 54, 55, thereby controlling the motor 3. The inverter 41 converts the supplied DC power into three-phase AC power of U phase, V phase and W phase corresponding to the control of the MC-MCU 46, and outputs the converted three-phase AC power to the motor 3. According to this, the motor 3 performs the operation corresponding to the control content. When the temperature of the measurement result measured by the temperature sensor 45 exceeds a preset threshold value (temperature judgment threshold value), the MC-MCU 46 controls the motor 3 through the inverter 41 to stop the motor 3. This can prevent the CM built-in roller MR from being heated seriously.

[0043] The fourth pin PN4 is a signal terminal, which is connected to Trans'IC52 and MC-MCU46 respectively. MC-MCU46 determines whether there is a communication abnormality. In the case of normal communication, a communication signal is input into the fourth pin PN4, and the communication signal is input into and output from Trans'IC52, and then the control content is output by MC-MCU46, and the control content is output to the switching device CD. In the case of abnormal communication, MC-MCU46 outputs a signal indicating the abnormal communication to the fourth pin PN4 (abnormal notification signal), and outputs the abnormal notification signal to the switching device CD. In the case of communication recovery (in the case where the communication is judged to be normal after being judged to be abnormal), MC-MCU46 outputs a signal indicating the recovery of the communication to the fourth pin PN4 (recovery notification signal), and outputs the recovery notification signal to the switching device CD. The MC-MCU46 can directly determine whether there is a communication anomaly, but in the present embodiment using IO-Link, the hub MS of the IO-Link host first detects whether there is a communication anomaly in the communication network NW, and notifies the result to Trans'IC52, which notifies MC-MCU46 via Comm'MCU53. MC-MCU46 determines whether there is a communication anomaly based on the notification. The hub MS of the IO-Link host sends a communication signal. If no response is received, it retries. If the retry fails twice, it is determined that there is a communication anomaly. On the other hand, the hub MS of the IO-Link host sends a communication signal after a specified time has passed. If a response is received and the communication is successful, it is determined that the communication has been restored, and the result is notified to Trans'IC52. Trans'IC52 notifies MC-MCU46 via Comm'MCU53. MC-MCU46 determines that the communication has been restored based on the notification.

[0044] The MC-MCU 46 outputs enable signals to the Trans'IC 52 and Comm'MCU 53 , respectively, to enable or disable the Trans'IC 52 and Comm'MCU 53 .

[0045] Trans'IC52 includes, for example, an IC chip of model MAX22515, and is connected to the fourth pin PN4 and Comm'MCU53. Trans'IC52 sends and receives communication signals according to the IO-Link standard, and the communication content (such as control content, communication abnormality, and communication normality) contained in the communication signal is output to MC-MCU46 via Comm'MCU53.

[0046] Comm'MCU53 includes, for example, an IC chip of model M251FC2AE, and is connected to Trans'IC52 and MC-MCU46, respectively. Since the protocol of the UART (Universal Asynchronous Receiver / Transmitter) frame input and output in Trans'IC52 is different from the protocol of the UART frame input and output in MC-MCU46, Comm'MCU53 converts the protocol of the UART frame between Trans'IC52 and MC-MCU46, and Comm'MCU53 enables data input and output between Trans'IC52 and MC-MCU46.

[0047] The second pin PN2 is a signal terminal, connected to the input of Shifter 54, and the output of Shifter 54 is connected to MC-MCU 46. A signal indicating the set rotation direction (set rotation direction signal) is input to the second pin PN2 from the switching device CD. The set rotation direction signal is a voltage corresponding to the voltage value of the set rotation direction. In this embodiment, for example Figure 5 As shown in A, when the set rotation direction is forward CW, the set rotation direction signal is a voltage of 6.5 [V] or more. If a voltage of 6.5 [V] or more (6.5 to 24 [V]) is input to Shifter54, a high level (Hi level) voltage indicating that the set rotation direction is forward CW is output, and the high level voltage is input to MC-MCU46. Accordingly, MC-MCU46 recognizes that the set rotation direction of the control content is forward CW. On the other hand, when the set rotation direction is reverse CCW, the set rotation direction signal is a voltage of 4.5 [V] or less. If a voltage of 4.5 [V] or less (0 to 4.5 [V]) is input to Shifter54, a low level (Low level) voltage indicating that the set rotation direction is reverse CCW is output, and the low level voltage is input to MC-MCU46. Accordingly, MC-MCU46 recognizes that the set rotation direction of the control content is reverse CCW.

[0048] The second pin PN2 is also connected to the Trans'IC52 according to the IO-Link standard.

[0049] The fifth pin PN5 is a signal terminal, connected to the input of Shifter55, and the output of Shifter55 is connected to MC-MCU46. Either a signal indicating a control source (control source signal) or a signal indicating a set speed (set speed signal) is selectively input to the fifth pin PN5 from the switching device CD. The control source signal is a voltage value corresponding to the case where the control source is the conveyor management device SV (i.e., the control source when communication is normal). In this embodiment, for example Figure 5 B is a voltage of 18 [V] or more (18 to 24 [V]). If a voltage of 18 [V] or more is input to Shifter 55, no output is given. When the switching device CD is in operation, it outputs a voltage of 18 [V] or more (18 to 24 [V]) to the fifth pin PN5 at a default value. The set speed signal is a voltage corresponding to the set speed. In this embodiment, for example Figure 5 As shown in B, the voltage value corresponding to the set speed is pre-defined in the voltage range of 2 to 10 [V], and the voltage value corresponding to the set speed is pre-defined in the voltage range of 0 to the maximum speed [m / min -1 ] The speed range predetermines the voltage value corresponding to the rotation speed. If a voltage corresponding to the set speed is input to Shifter55, it outputs a voltage corresponding to the rotation speed of the set speed. Moreover, 10 to 13 [V] is predetermined as the set speed as the maximum speed. If a voltage of 10 to 13 [V] is input to Shifter55, it outputs a voltage corresponding to the maximum speed. This voltage corresponding to the rotation speed of the set speed is input to MC-MCU46. Accordingly, MC-MCU46 identifies the set speed of the control content. In addition, although the case where the control source is the switching device CD is not explicitly indicated in the communication control processing unit 4, it is implicitly indicated in the communication control processing unit 4 by the voltage value corresponding to the set speed in the voltage range of 2 to 13 [V] being input to the fifth pin PN5.

[0050] The fifth pin PN2 is also connected to the Trans'IC 52, and is supplied with a voltage of 18 [V] or more, preferably 24 [V], of DC power when communication is normal.

[0051] The fourth, second and fifth pins PN4, PN2 and PN5 are connected to three signal wires of the cable CB.

[0052] In the communication control processing unit 4 of the circuit, Trans'IC 52, Comm'MCU 53, and Shifters 54 and 55 are equivalent to an example of the communication unit 50. The inverter 41, the current sensor 42, the Hall sensor, the voltage sensor 44, the temperature sensor 45, and the MC-MCU 46 are equivalent to an example of the control unit 40. The MC-MCU 46 is equivalent to an example of the first processing unit 461, and the first processing unit 461 functionally constitutes the MC-MCU 46 by executing a program.

[0053] In addition, a heat sink (not shown) may be provided to release the heat generated in the communication control processing unit 4, and the communication control processing unit 4, the heat sink, and the connecting member 9 may be connected and provided in this order. Accordingly, the heat generated in the communication control processing unit 4 is sequentially thermally conducted from the communication control processing unit 4 to the heat sink, the connecting member 9, the first support shaft 2a, and the first conveyor frame CFa, and is dissipated in the first conveyor frame CFa.

[0054] Next, the operation of this embodiment will be described. Figure 6 This is a flowchart showing the operation of the communication control processing unit. Figure 7 This is a first sequence diagram showing the operations of the hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and the switching device CD. Figure 8 This is a second sequence diagram showing the operations of the hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and the switching device CD.

[0055] In the transmission system of this structure, when the operation starts, the switching device CD outputs a voltage of 18 [V] or more (18 to 24 [V]) to the fifth pin PN5 by default. Figures 6 to 8 In the process, the communication control processing unit 4 determines whether the communication is normal by referring to the voltage value of the fifth pin PN5 (S1, C1). As a result of the determination, if the communication is normal (Yes), the communication control processing unit 4 sends a communication signal (control inquiry communication signal) to the conveyor management device SV to inquire about the control content (S2, C1). On the other hand, as a result of the determination, if the communication is not normal (communication is abnormal) (No), the communication control processing unit 4 then executes the process S7 (C21).

[0056] The control inquiry communication signal is sent to the conveyor management device SV via the IO-Link host MS and the communication network NW, and the conveyor management device SV receives the control inquiry communication signal (C3). The conveyor management device SV sends a communication signal (control reply communication signal) containing the control content corresponding to the CM built-in roller MR of the sending source to the communication control processing unit 4 (C4) in the CM built-in roller MR of the sending source.

[0057] The control reply communication signal is transmitted to the communication control processing unit 4 via the communication network NW and the IO-Link master MS, and the communication control processing unit 4 receives the control reply communication signal ( S3 , C5 ).

[0058] If the communication control processing unit 4 receives the control reply communication signal, it controls the motor 3 according to the control content contained in the received control reply communication signal (S4, C6), and outputs (notifies) the control content contained in the received control reply communication signal to the switching device CD (S5, C7), and determines whether the communication is normal by referring to the voltage value of the fifth pin PN5 (S6, C8). As a result of the judgment, if the communication is normal (yes), the communication control processing unit 4 returns the processing to processing S2 (C2) (C9). Accordingly, each process from processing S2 to processing S6 is repeatedly performed. If the communication is normal, the communication control processing unit 4 communicates with the conveyor management device SV via the IO-Link host MS and the communication network NW to control the motor 3. On the other hand, if the result of the judgment is that the communication is not normal (communication is abnormal) (no), the communication control processing unit 4 then executes processing S7 (C21). In the control of the motor 3, when a communication abnormality is received from the hub MS of the IO-Link host, the communication control processing unit 4 determines that the communication is not normal (communication is abnormal).

[0059] On the other hand, the control content contained in the received control reply communication signal output to the switching device CD in the processing S5 (C7) is input to the switching device CD, and the switching device CD accepts the input of the control content (C10), and the second processing unit 61 stores the input control content in the storage unit 62 (C11).

[0060] In the process S7 (C21), the communication control processing unit 4 outputs the abnormality notification signal indicating the communication abnormality to the switching device CD.

[0061] The abnormal notification signal is input to the switching device CD, and the switching device CD receives the input of the abnormal notification signal (C22), and the second processing unit 61 outputs the control content stored in the storage unit 62 to the communication control processing unit 4 (C23). More specifically, in this embodiment, the switching device CD outputs a voltage of a voltage value corresponding to the set rotation direction of the control content stored in the storage unit 62 to the second pin PN2, and outputs a voltage of a voltage value corresponding to the set speed of the control content stored in the storage unit 62 to the fifth pin PN5.

[0062] The output of the control content is input to the communication control processing unit 4, and the communication control processing unit 4 controls the motor 3 according to the input control content (S8, C24). More specifically, in the present embodiment, when the voltage value corresponding to the set rotation direction input to the second pin PN2 is less than 4.5 [V], the shifter 54 outputs a low level (Low level) voltage indicating that the set rotation direction is reverse CCW, and the MC-MCU 46 controls the motor 3 through the inverter 41 in a manner of reverse CCW. When the voltage value corresponding to the set rotation direction input to the second pin PN2 is more than 6.5 [V], the shifter 54 outputs a high level (Hi level) voltage indicating that the set rotation direction is forward CW, and the MC-MCU 46 controls the motor 3 through the inverter 41 in a manner of forward CW. The shifter 55 outputs a voltage of a rotation speed corresponding to the voltage value corresponding to the set speed input to the fifth pin PN2, and the MC-MCU 46 controls the motor 3 through the inverter 41 in a manner of the rotation speed of the set speed. According to this, even when the communication is abnormal, the motor 3 is controlled and the operation of the conveying device CS is maintained.

[0063] Next, the communication control processing unit 4 determines whether the communication has been restored (S8, C25). As a result of the judgment, if the communication has been restored (Yes), the communication control processing unit 4 outputs the restoration notification signal indicating the restoration of the communication to the switching device CD (S10, C26), and returns the processing to the processing S1 (C1). In the control of the motor 3, when the communication restoration (normal communication) is received from the hub MS of the IO-Link host, the communication control processing unit 4 determines that the communication has been restored. On the other hand, as a result of the judgment, if the communication has not been restored (communication is abnormal) (No), the communication control processing unit 4 returns the processing to the processing S8 (C24). Accordingly, the control of the motor 3 continues based on the output from the switching device CD.

[0064] On the other hand, the restoration notification signal is input to the switching device CD, and the switching device CD receives the input of the restoration notification signal (C28), and the second processing unit 61 outputs a voltage of 18 [V] or more to the fifth pin PN5 (C28).

[0065] Through the above-described operation, the conveying system of the embodiment including the CM built-in roller MR and the switching device CD can operate the conveying device CS in a designated control method even when a communication abnormality occurs.

[0066] In addition, the conveying system in the embodiment can also be used for a conveying device of a belt conveyor device (first variant embodiment). That is, the conveying system in the first variant embodiment includes a conveyor built-in motor roller MR, a switching device CD, and a conveying device of a belt conveyor device, and the plurality of rollers in the conveying device include one or more of the conveyor built-in motor rollers MR. The conveyor built-in motor roller MR and the switching device CD in the conveying system of the first variant embodiment are respectively the same as the conveyor built-in motor roller MR and the switching device CD in the conveying system of the above-mentioned embodiment, and therefore, their description is omitted, and the conveying device of the belt conveyor device is described here.

[0067] Fig. 9 1 is a top view of the conveying device in the first variant embodiment. The conveying device CSa in the first variant embodiment is provided with, for example, Fig. 9 The belt conveyor device shown in the figure comprises a plurality of rollers MR and FR arranged in parallel in one direction, a conveyor belt BTa sleeved on the plurality of rollers MR and FR, and uses the upper surface of the conveyor belt BTa as a moving path to move an object. More specifically, the conveyor device CSa comprises: a pair of first and second conveyor frames CFa and CFb; one or more conveyor built-in motor rollers MR; one or more driven rollers FR; and a conveyor belt BTa. The first and second conveyor frames CFa and CFb, the conveyor built-in motor rollers MR, and the driven rollers FR are respectively the same as the first and second conveyor frames CFa and CFb, the conveyor built-in motor rollers MR, and the driven rollers FR in the above-mentioned embodiment, and therefore, their description is omitted.

[0068] That is, the conveyor device CS in the above-mentioned embodiment has CM built-in rollers MR every three, and the CM built-in rollers MR and the adjacent driven rollers FR are connected by a ring-shaped (annular) belt BT wound around one end, while in the conveyor device CSa of the first modified embodiment, the rollers respectively arranged at both ends of the plurality of rollers MR and FR arranged in parallel in one direction are CM built-in rollers MR, and a wide conveyor belt BTa is mounted on these rollers. In addition, one or more of the plurality of driven rollers FR arranged in parallel between the CM built-in rollers MR at both ends can also be replaced with CM built-in rollers MR.

[0069] According to the first variation, a conveyor system further including a conveyor device including a belt conveyor can be provided. The conveyor system further including the belt conveyor device can operate the conveyor device in a designated control method even when a communication abnormality occurs.

[0070] Furthermore, in the above-mentioned embodiment and the first variation, the switching device CD and the CM built-in roller MR are independently provided, but may be provided integrally. That is, the CM built-in roller MR may also have a built-in switching device CD (second variation). The CM built-in roller MR has the function of the switching device CD, for example, it has a communication unit 50, a roller tube 1, a pair of support shafts 2a, 2b which are arranged opposite to each other and rotatably support the roller tube 1, a motor 3 which is arranged inside the roller tube 1 and generates a driving force to rotate the roller tube 1, a control unit 71 which is arranged inside the roller tube 1 and controls the motor 3 according to the control content contained in the control signal received by the communication unit 50, and a storage unit 72 which is arranged inside the roller tube 1 and stores the control content contained in the control signal received by the communication unit 50. The control unit 71 also determines whether there is a communication abnormality, and when it is determined that there is a communication abnormality, controls the motor 3 according to the control content stored in the storage unit 72. The control unit 71 and the storage unit 72, for example Figure 3 As shown by the dotted line in , it is provided in the communication control processing unit 4 instead of the control unit 40 and the first processing unit 461.

[0071] In the second variation, the CM built-in roller MR built-in switching device CD, so the above-mentioned conveying system can be simplified.

[0072] Alternatively, the switching device CD may be integrated with the hub (IO-Link master) MS (third variation embodiment).

[0073] As described above, this specification discloses the technologies of various embodiments, and the main technologies therein are summarized as follows.

[0074] A conveying system according to a technical solution includes a conveyor motor roller and a switching device. The conveyor motor roller includes: a conveyor motor roller and a switching device, wherein the conveyor motor roller includes: a communication unit; a roller tube; a pair of support shafts arranged opposite to each other and rotatably supporting the roller tube; a motor arranged inside the roller tube and generating a driving force to rotate the roller tube; a control unit arranged inside the roller tube and controlling the motor according to the control content included in the control signal received by the communication unit; and a first processing unit arranged inside the roller tube and outputting the control content included in the control signal received by the communication unit to the switching device. The switching device includes: a storage unit; and a second processing unit storing the control content in the storage unit when the control content is input from the conveyor motor roller. Furthermore, the first processing unit further determines whether there is a communication anomaly, and when it is determined that there is the communication anomaly, the communication anomaly is output to the switching device, and the second processing unit further causes the control unit to control the motor according to the stored control content when the communication anomaly is input from the built-in motor roller for the conveyor. Preferably, in the above-mentioned conveying system, the communication unit is an interface that selectively performs one of bidirectional communication and data input and output. Preferably, in the above-mentioned conveying system, the communication unit is an interface that complies with the IO-Link standard.

[0075] In this conveying system, the conveyor's built-in motor roller has a built-in control unit for controlling the motor, and the control unit controls the motor according to the control content contained in the control signal received by the communication unit, and outputs the control content to the switching device, and the switching device stores the input control content. In addition, if the conveyor's built-in motor roller determines that the communication is abnormal, the communication abnormality is output to the switching device, and if the switching device accepts the input of the communication abnormality, the control unit controls the motor according to the stored control content. As described above, the control source switches from the control signal in the case of normal communication to the switching device in the case of abnormal communication. Therefore, the above-mentioned conveying system can operate the conveying device in a specified control method even when a communication abnormality occurs.

[0076] In another technical solution, the conveyor-mounted motor roller in the above-mentioned conveying system has the switching device built in. That is, the conveyor-mounted motor roller includes: a communication unit; a roller tube; a pair of support shafts arranged opposite to each other and rotatably supporting the roller tube; a motor arranged inside the roller tube and generating a driving force to rotate the roller tube; a control unit arranged inside the roller tube and controlling the motor according to the control content included in the control signal received by the communication unit; and a storage unit arranged inside the roller tube and storing the control content included in the control signal received by the communication unit, wherein the control unit also determines whether there is a communication abnormality, and when it is determined that there is a communication abnormality, controls the motor according to the stored control signal.

[0077] In this conveying system, since the conveyor has a built-in motor and a built-in switching device for the roller, the conveying system can be simplified.

[0078] In another technical solution, these above-mentioned conveying systems also include: a conveying device, including a roller-type conveying device, wherein the roller-type conveying device includes a plurality of rollers arranged in parallel along one direction, and uses the top of the plurality of rollers as a moving channel to move the object, wherein the plurality of rollers include one or more built-in motor rollers for the conveyor.

[0079] According to this, it is possible to provide a conveying system further including a conveying device of a roller-type conveying device.

[0080] In another technical solution, the above-mentioned conveying systems also include: a conveying device, including a belt conveying device, wherein the belt conveying device includes a plurality of rollers arranged in parallel along one direction and a conveyor belt mounted on the plurality of rollers, and the top of the conveyor belt is used as a moving channel to move the object, wherein the plurality of rollers include one or more built-in motor rollers for the conveyor.

[0081] According to this, it is possible to provide a conveyor system further including a conveyor device including a belt conveyor device.

[0082] In order to describe the present invention, the present invention is appropriately and fully described above with reference to the accompanying drawings and through the embodiments, but it should be recognized that those skilled in the art can easily change and / or improve the above-mentioned embodiments. Therefore, as long as the modified embodiments or improved embodiments implemented by those skilled in the art do not deviate from the level of the protection scope of the claims recorded in the claims, the modified embodiments or improved embodiments can be interpreted as being included in the protection scope of the claims.

[0083] Industrial Applicability

[0084] According to the present invention, it is possible to provide a conveyor system including a conveyor motor-built-in roller used in a conveyor device and a switching device for switching a control source.

Claims

1. A conveying system, characterized in that include: Conveyor with built-in motor roller and switching device, wherein: The conveyor motor roller has: Ministry of Communications; Roller tube; A pair of support shafts are disposed opposite to each other and rotatably support the drum tube; a motor, which is disposed inside the drum tube and generates a driving force for rotating the drum tube; a control unit, disposed inside the drum tube, for controlling the motor according to control contents contained in the control signal received by the communication unit; and The first processing unit is disposed inside the drum tube and outputs the control content included in the control signal received by the communication unit to the switching device. The switching device comprises: a storage unit; and The second processing unit stores the control content in the storage unit when the control content is input from the conveyor motor-built-in roller. The first processing unit further determines whether there is a communication abnormality, and if it is determined that there is a communication abnormality, outputs the communication abnormality to the switching device. Furthermore, when the communication abnormality is input from the conveyor motor-built-in roller, the second processing unit causes the control unit to control the motor according to the stored control content.

2. The conveying system according to claim 1, characterized in that The conveyor motor-built-in roller has the switching device built-in.

3. The conveying system according to claim 1 or 2, characterized in that Also includes: A conveying device, comprising a roller conveying device, wherein the roller conveying device comprises a plurality of rollers arranged in parallel in one direction, and uses the upper surfaces of the plurality of rollers as a moving channel to move an object, wherein: The plurality of rollers may include one or more conveyor motor-built-in rollers.

4. The conveying system according to claim 1 or 2, characterized in that Also includes: A conveying device, comprising a belt conveying device, wherein the belt conveying device comprises a plurality of rollers arranged in parallel in one direction and a conveyor belt sleeved on the plurality of rollers, and an object is moved by using the upper surface of the conveyor belt as a moving channel, wherein: The plurality of rollers may include one or more conveyor motor-built-in rollers.

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