Conveying device

Abstract

The present invention is a transport facility provided with a plurality of transport devices and a determination system. The determination system is provided with: a vibration detection unit that detects vibrations generated from each of the plurality of transport devices and acquires vibration data indicating the vibrations; a recording unit; and a determination unit and a control unit, in which at least reference data, which is data for determining the state of each of the plurality of transport devices, is recorded in the recording unit, and the determination unit is configured so as to determine whether or not there is a sign of an abnormality in the transport device on the basis of the reference data recorded in the recording unit and the vibration data acquired by the vibration detection unit. The control unit executes an inspection mode in which the vibration detection unit acquires the vibration data in a state in which the operation of the conveyance device other than the target conveyance device is stopped and the target conveyance device is operated.

Description

Technical Field

[0001] The present invention relates to a conveying device. Background Art

[0002] For example, Japanese Patent Application Laid-Open No. 2020-76750 (Patent Document 1) discloses a technology related to a conveying device.

[0003] The conveying equipment (three-dimensional automatic warehouse 1) of patent document 1 includes a rack (10) for storing articles (70) and a plurality of conveying devices. The plurality of conveying devices include: a buffer conveyor (60) arranged adjacent to the rack (10); a stacking crane (30) that conveys articles (70) between the buffer conveyor (60) and the storage portion of the rack (10); and a lifting device (50). The lifting device (50) lifts and lowers the articles (70) and transfers them to the buffer conveyor (60). A plurality of vibration sensors (2) are provided on the lifting device (50). The vibration sensor (2) is configured to detect vibrations generated by parts of a drive system constituting the lifting device (50).

[0004] In the above-mentioned conveying equipment, the following configuration is adopted: With respect to the plurality of components constituting the drive system of the lifting device (50), the relationship between the frequency fluctuation amount generated by each component and the degree of component deterioration is pre-learned, and a threshold value is set for the frequency fluctuation amount based on the learned model. Furthermore, if the frequency fluctuation amount of a certain component exceeds the threshold value, a warning email is sent to the terminal of the operator of the conveying equipment. Thus, abnormalities of the components, etc., can be detected before the lifting device (50) fails. Summary of the Invention

[0005] The conveying device of Patent Document 1 measures vibrations generated by components constituting the drive system of the lifting device (50) in a normal operating state (a state in which articles are conveyed by multiple conveying devices). Therefore, there is a possibility that the measurement results may be affected by vibrations transmitted from conveying devices other than the lifting device (50). Therefore, in cases where the vibrations transmitted from conveying devices other than the lifting device (50) are large, there is a possibility that the presence or absence of abnormal signs in the lifting device (50), i.e., the conveying device to be measured, may not be properly determined.

[0006] Therefore, it is desired to provide a technology that can appropriately determine whether or not there is a sign of abnormality in a conveying device in a conveying facility including a plurality of conveying devices.

[0007] The conveying equipment involved in the present disclosure is a conveying equipment including a plurality of conveying devices for conveying articles and a determination system for determining the status of the plurality of conveying devices. The determination system comprises: a vibration detection unit for detecting vibrations generated from each of the plurality of conveying devices and acquiring vibration data representing the vibrations; a recording unit for recording the vibration data acquired by the vibration detection unit; a determination unit for determining the state of each of the conveying devices based on the vibration data; and a control unit. The recording unit records at least reference data used for determining the state of each of the plurality of conveying devices. The determination unit is configured to determine whether or not there is a sign of abnormality in the conveying device based on the reference data recorded in the recording unit and the vibration data obtained by the vibration detection unit. One of the plurality of transport devices is selected as a target transport device, The control unit executes a check mode in which the vibration detection unit acquires the vibration data while stopping the operations of the conveying devices other than the target conveying device and operating the target conveying device.

[0008] According to this configuration, in a conveying facility including a plurality of conveying devices, the presence or absence of abnormality signs in each conveying device can be determined based on vibration data indicating vibrations generated in each of the plurality of conveying devices and reference data recorded in the recording unit. Furthermore, according to this configuration, by executing the inspection mode, the operation of conveyors other than the target conveyor is stopped. This allows vibration data of the target conveyor to be acquired while minimizing the influence of vibrations generated by other conveyors. This facilitates improving the accuracy of the vibration data and, consequently, the accuracy of determining whether or not there are signs of abnormalities in the conveyor.

[0009] Further features and advantages of the conveying device will become apparent from the following description of exemplary and non-limiting embodiments explained with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a control block diagram. Figure 2 is a top view showing one example of a conveying device. Figure 3 is a top view showing one example of a conveying device. Figure 4 It is a side view of the conveying device. Figure 5 It is a control flow graph. Figure 6 It is a control flow graph. Figure 7 It is a control flow graph. Figure 81 is a top view of a conveying device in another embodiment. DETAILED DESCRIPTION

[0011] [First embodiment] Hereinafter, a first embodiment of the conveyance equipment 100 will be described with reference to the drawings.

[0012] like Figure 1 As shown, the conveying equipment 100 includes a plurality of conveying devices 2 for conveying articles W and a determination system 10 for determining the status of the plurality of conveying devices 2. In addition, the conveying equipment 100 also includes a warning device 6 and a control device 7. In this example, Figure 2 and Figure 3 As shown, the conveying equipment 100 is provided with a storage rack 4 capable of accommodating a plurality of articles W and an inlet and outlet 9. Each of the plurality of conveying devices 2 is configured to convey the articles W between the storage rack 4 and the inlet and outlet 9. In the example shown in the figure, the conveying equipment 100 is provided with a conveying device 2, a storage rack 4, and an inlet and outlet 9. Here, the conveying device 2, the storage rack 4, and the inlet and outlet 9 are collectively referred to as a warehouse 1. The conveying device 2 moves along the travel path 5 in the warehouse 1. In addition, a pair of storage racks 4 are provided so as to sandwich the travel path 5. The conveying device 2 is guided by the track R laid along the travel path 5 and moves to store and retrieve articles W from the pair of storage racks 4. In the following, the direction along the travel path 5 is set as the first direction X, and the direction orthogonal to the first direction X when viewed in the up and down direction (the direction in which the pair of storage racks 4 are side by side) is set as the second direction Y for explanation.

[0013] The storage rack 4 is provided along the travel path 5. The storage rack 4 has a plurality of storage sections (not shown) for accommodating articles W. The plurality of storage sections are arranged side by side along the first direction X and in the vertical direction. The conveying device 2 transfers articles W between the plurality of storage sections. In addition, the conveying device 2 also transfers articles W to a plurality of transport inlets and outlets 9 adjacent to the storage rack 4 along the first direction X. The transport inlets and outlets 9 can be provided as a loading platform capable of loading articles W, or as a conveyor for transporting in and out.

[0014] In this embodiment, if Figure 1 and Figure 4 As shown, the conveyor device 2 includes multiple drive units 3. The conveyor device 2 includes a travel device 20 guided by a rail R, a lifting device 36 for lifting and lowering articles W, and a transfer device 24. Each of the multiple drive units 3 includes a drive source or a mechanism driven by the drive source as a component. In this example, the conveyor device 2 is a stacker crane.

[0015] The travel device 20 includes a plurality of wheels 16 that roll on a rail R, a lower frame 32 that supports the wheels 16, and a travel drive unit M1 (such as a travel motor) that drives at least one of the wheels 16. The lifting device 36 includes a mast 21 (here, a pair of masts 21) erected on the lower frame 32, a lifting platform 33 that is guided and raised by the masts 21, a chain 22 that supports the lifting platform 33, a plurality of sprockets 17, and a lifting motor 17M that rotationally drives at least one of the sprockets 17. In the illustrated example, the lifting motor 17M is mounted on the lower frame 32 of the travel device 20. Furthermore, the plurality of sprockets 17 are mounted on the lower frame 32 and the upper frame 31. The upper frame 31 connects the upper portions of the pair of masts 21 spaced apart in the first direction X. In the illustrated example, an upper rail S is arranged along the upper frame 31. The upper frame 31 is provided with a plurality of guide wheels 12 that roll on the upper rail S. Moreover, the upper frame 31 can be guided by the upper rail S and move along the first direction X. The chain 22 is wound around a plurality of sprockets 17 and is arranged along the respective extension directions of the lower frame 32, the pair of masts 21 and the upper frame 31. In addition, the chain 22 suspends and supports the lifting platform 33. Driven by the lifting motor 17M, the sprocket 17 rotates, thereby moving the chain 22. As a result, the lifting platform 33 moves in the up and down directions. In addition, in this specification, the components of the drive unit 3 also include components (here, the upper frame 31, the guide wheel 12, etc.) that are driven in conjunction with the drive source (for example, the travel drive unit M1) of other drive units 3 (for example, the travel device 20). In addition, the transfer device 24 includes a transfer mechanism and a transfer drive unit (forward and backward motor, etc.) that drives the transfer mechanism. Here, the transfer mechanism is configured as a fork type, which can carry the article W and move the article W forward and backward along the second direction Y.

[0016] exist Figure 2 In the example of , a plurality of (here, two) conveying devices 2 are arranged with a common track R. Figure 3 In the example, a plurality of warehouses 1 are arranged side by side along the second direction Y. Moreover, one conveying device 2 is arranged in each warehouse 1. Figure 3 In the example of , one transport device 2 is arranged for each rail R. Furthermore, a plurality of such transport devices 2 and rails R are arranged side by side along the second direction Y.

[0017] like Figure 1As shown, the determination system 10 includes: a vibration detection unit 11, which detects the vibration generated from each of the multiple conveying devices 2 and obtains vibration data representing the vibration; a recording unit 13, which records the vibration data obtained by the vibration detection unit 11; a determination unit 15, which determines the status of each conveying device 2 based on the vibration data; and a control unit 18. In this embodiment, the recording unit 13, the determination unit 15, and the control unit 18 are provided in the control device 7. In addition, part of the functions of the recording unit 13 are provided in an external database 14 that can communicate with the control device 7. In addition, the control device 7 and the database 14 include a processor such as a microcomputer, peripheral circuits such as a memory, etc. Moreover, each function is realized through the cooperation of these hardware and the program executed on the processor of the computer.

[0018] In this embodiment, the determination system 10 includes a plurality of vibration detection units 11. The vibration detection unit 11 is installed in each of the plurality of drive units 3. Moreover, the vibration detection unit 11 is configured to detect vibrations generated from the drive unit 3. In this example, the vibration detection unit 11 is configured to be capable of detecting vibrations generated in the constituent elements of the plurality of drive units 3. The vibrations detected by each of the plurality of vibration detection units 11 are obtained as vibration data. The vibration data is sent from the vibration detection unit 11 to the control device 7. In this example, the plurality of vibration detection units 11 are installed in a manner corresponding to the plurality of drive units 3 (traveling device 20, lifting device 36 and transfer device 24) of the conveying device 2. Figure 4 In the example, a plurality of vibration detection units 11 are provided on each of the lower frame 32 and the upper frame 31. In addition, the vibration detection unit 11 is also mounted on the lifting platform 33. In more detail, the vibration detection unit 11 is mounted near the wheel 16 (constituent element of the traveling device 20), near the plurality of sprockets 17 (near the lifting device 36), near the guide wheel 12 of the upper frame 31, and the like. In addition, although not shown in the figure, the vibration detection unit 11 is also mounted near the traveling drive unit M1 or the lifting motor 17M. In addition, in addition to the above, the vibration detection unit 11 may also be mounted near a fastening member that connects and fixes the mast 21 to the lower frame 32 (upper frame 31), and the like. In this way, the installation position of the vibration detection unit 11 can be appropriately changed.

[0019] In this embodiment, vibration data includes data on at least one of sound, which is vibration transmitted through the air, and mechanical vibration, which is vibration transmitted through the structure including the conveyor 2. In this example, the vibration detection unit 11 is configured as a sound sensor (a measurement microphone). Therefore, the vibration data is configured as data on sound, which is vibration transmitted through the air. The vibration detected by the vibration detection unit 11 is obtained as data showing the relationship between amplitude (sound pressure) and time. This data is then converted through Fourier transform into vibration data (waveform data, etc.) showing the relationship between sound pressure and frequency. Furthermore, appropriate correction processing is performed on the obtained vibration data as needed. For example, if a predetermined noise is generated in the waveform included in the vibration data, the control device 7 performs noise removal processing, or if the baseline is disturbed, performs baseline correction processing. Furthermore, the control device 7 is configured to be capable of performing processing such as calculating the average value of the sound pressure over a certain period (a period during which fluctuations in sound pressure or frequency are stable) based on the waveform data showing the relationship between sound pressure and frequency. The numerical values obtained by such calculation processing can also be included in the vibration data. In addition, the frequency obtained as the vibration data is not limited to being within the range of human audible frequencies, and may be outside the range of human audible frequencies.

[0020] The recording unit 13 records at least data for determining the status of each of the plurality of conveying devices 2, namely reference data. In the present embodiment, the reference data includes abnormality data showing the relationship between abnormalities and vibration data generated in the past for each model of the conveying device 2. In the present embodiment, the reference data also includes vibration data under a reference state for each of the plurality of conveying devices 2, namely reference data. In this example, the recording unit 13 includes a first recording unit 13a and a second recording unit 13b. The first recording unit 13a is provided in the control device 7. The second recording unit 13b is provided in the database 14. Here, the reference data is recorded in the first recording unit 13a. In addition, the abnormality data is recorded in the second recording unit 13b. In addition, the reference data may also be recorded in the second recording unit 13b.

[0021] The reference data is set as vibration data of a reference state in each of the plurality of drive units 3. The reference data may be data indicating designed vibration or vibration data obtained by the vibration detection unit 11 in a reference state (for example, obtained in the inspection mode described later). The reference state is set as a normal state in which the drive unit 3 operates normally. Here, the reference data may be, for example, vibration data in the initial state of the drive unit 3 (the state when it is first used) or vibration data in the drive unit 3 in a normal state after a certain period of use. As an example, the reference data may also be set as waveform data showing the relationship between sound pressure and frequency. In addition, as an example, the reference data may also be set as data such as the average value of sound pressure for a certain period (a period in which the change in sound pressure or frequency is stable) calculated based on the reference waveform data showing the relationship between sound pressure and frequency. The abnormal data includes vibration data accumulated in the past in each of the plurality of drive units 3. To be more specific, the abnormality data is set to be data that establishes an association between vibration data showing abnormalities (or signs of abnormalities) in each of the same type of drive units 3 in the past, content showing the abnormality (or signs of abnormalities) (including the inferred cause of the abnormality), and the working status of the drive unit 3 (the transition process of the action, etc.).

[0022] In this example, the reference data and abnormality data related to the components of the travel device 20 (such as the wheels 16 and the travel drive unit M1) are recorded in the recording unit 13. In addition, the reference data and abnormality data related to the components of the lifting device 36 (such as the multiple sprockets 17, the chain 22, and the lifting platform 33) are recorded in the recording unit 13. In addition, the reference data and abnormality data related to the components of the transfer device 24 (such as the transfer mechanism and the transfer drive unit) are recorded in the recording unit 13. Furthermore, as an example, the reference data and abnormality data related to the guide wheel 12 are recorded in the recording unit 13. The database 14 is configured so that it can also be accessed from devices other than the control device 7 of the conveying equipment 100. Preferably, the database 14 is capable of communicating with, for example, a device that manages various conveying devices 2 used in a wide range of areas (for example, a region spanning multiple countries). The second recording unit 13b stores abnormality data obtained from multiple conveying devices 2 of the same type as in this example, which are used in a wide range of areas (for example, a region spanning multiple countries). In addition, in this example, of course, abnormality data related to transport devices other than the transport device 2 of this example is also recorded in the second recording portion 13 b .

[0023] In addition to the baseline data, the first recording unit 13a of the control device 7 also pre-records numerical data, etc., that serve as indicators indicating signs of abnormalities in each drive unit 3 of the conveyor device 2. For example, the data includes a predetermined frequency and specific sound pressure values (in decibels) indicating signs of abnormalities in components of the drive unit 3 (for example, the wheel 16). In this example, the "sign of abnormality" is set to indicate a state with a relatively high probability of an abnormality in the drive unit 3, but this is not limited to this. The "sign of abnormality" may also be set to indicate a state with a minor abnormality in the drive unit 3.

[0024] The determination unit 15 is configured as follows: based on the reference data recorded in the recording unit 13 and the vibration data obtained by the vibration detection unit 11, it determines whether the conveying device 2 has any signs of abnormality. In this embodiment, the determination unit 15 is configured in a manner that makes a determination based on the baseline data included in the reference data and the vibration data obtained by the vibration detection unit 11. In this example, the control device 7 performs a determination process. In the determination process, the determination unit 15 determines whether there are any signs of abnormality for each of the multiple drive units 3. The determination unit 15 can, for example, make a determination in real time on each vibration data obtained from each drive unit 3. In addition, the determination unit 15 can also make a determination on each vibration data obtained from each drive unit 3 at each predetermined period. In this example, if the control device 7 receives vibration data from the vibration detection unit 11, it performs a determination process. The determination unit 15 obtains the baseline data corresponding to the received vibration data with reference to the first recording unit 13a. Specifically, the determination unit 15 obtains from the first recording unit 13a reference data related to the components of the drive unit 3 (for example, the wheel 16 of the travel device 20, etc.) on which the vibration detection unit 11 that obtains the vibration data is installed. Thereafter, the determination unit 15 compares the vibration data obtained by the vibration detection unit 11 with the reference data. The determination unit 15 can determine that there is a sign of abnormality when, for example, the sound pressure value at a predetermined frequency in the vibration data obtained by the vibration detection unit 11 is greater than a threshold value set for the sound pressure value at a predetermined frequency in the reference data. In addition, the determination unit 15 can also use vibration data other than the reference data recorded in the first recording unit 13a to determine whether there is a sign of abnormality in the drive unit 3. When the determination unit 15 determines that there is a sign of abnormality based on the reference data, it outputs the working state of the drive unit 3 determined to have a sign of abnormality as a warning message (hereinafter sometimes simply referred to as "output control").

[0025] In addition, in the present embodiment, the determination unit 15 is configured to perform a determination based on the abnormal data included in the reference data and the vibration data obtained by the vibration detection unit 11. In the determination process, the determination unit 15 is configured to be able to obtain abnormal data from the second recording unit 13b and determine whether the drive unit 3 has signs of abnormality. If the control device 7 receives the vibration data obtained from the vibration detection unit 11, the received vibration data is sent to the database 14. As the vibration data sent from the control device 7 to the database 14, data (waveform data, etc.) showing the relationship between sound pressure and frequency or information such as the components of the drive unit 3 related to the data (as an example, the wheels 16 of the travel device 20) are listed. This information is recorded in the second recording unit 13b. In addition, the determination unit 15 is set to be able to refer to the second recording unit 13b of the database 14. Moreover, the determination unit 15 obtains abnormal data corresponding to the vibration data obtained from the vibration detection unit 11 from the second recording unit 13b. Specifically, the determination unit 15 extracts and obtains one or more abnormality data from the second recording unit 13b based on the vibration data obtained from the vibration detection unit 11. For example, if the determination unit 15 extracts abnormality data including waveform data similar to the waveform data obtained from the vibration detection unit 11 (waveform data that is an example of vibration data and shows the relationship between sound pressure and frequency), it determines that there is a sign of an abnormality in the drive unit 3 corresponding to the obtained vibration data. Furthermore, as output control, the determination unit 15 outputs the operating status of the drive unit 3 (here, the components of the drive unit 3), the content of the expected abnormality, and the content of maintenance required, etc., based on the content indicating the abnormality (or the sign of the abnormality) included in the abnormality data and the operating status of the drive unit 3 (such as the transition process of the operation). For example, for the wheel 16 located on the front side of the travel direction of the driving device 20, the rotation status of the wheel 16 or the wear status of the tire portion of the wheel 16 is output, and information such as a suspected failure of the wheel 16 or the need for replacement of tire components based on the wear status is included in the warning information. Furthermore, for example, the warning information may include information such as the operating status of the sprocket 17 of the lifting device 36 provided on the upper frame 31, the type of equipment securing the sprocket 17 to the upper frame 31, and information indicating the possibility of a failure in the sprocket 17 and its surroundings, or the need to replace the equipment, based on the status of the equipment. Furthermore, the above-listed determinations using abnormal data do not necessarily need to be performed by the determination unit 15 provided in the control device 7. For example, a separate determination unit 15 may be provided in the database 14 or a computing device connected to the database 14, and the determination unit 15 on the database 14 side may perform the above-listed determinations using abnormal data.

[0026] In this embodiment, as described above, the conveying equipment 100 includes the warning device 6 ( Figure 1). Moreover, the determination unit 15 sends a warning message to the warning device 6. In this example, the warning device 6 is a device that issues an alarm based on the received warning message. As the warning device 6, it can be set to an external terminal (tablet computer or PC, etc.) owned by the manager who manages the conveying equipment 100. In this case, the warning message is displayed on the display unit (monitor, etc.) of the external terminal. In addition, the warning device 6 can also be set to a structure that outputs the warning message by light or sound, etc. In this example, when the above-listed determination is performed based on the reference data recorded in the first recording unit 13a, the warning message is also output to the warning device 6 as output control. When the above-listed determination is performed based on the reference data recorded in the first recording unit 13a, the warning message includes content about the abnormality assumed by the drive unit 3 corresponding to the vibration data obtained from the vibration detection unit 11, etc. In addition, the warning message output by the above-listed determination based on the reference data is set to simple content compared with the warning message output by the above-listed determination based on the abnormal data. Furthermore, when the determination unit 15 determines that there is no sign of abnormality based on the reference data or the abnormality data, it can output a notification to that effect as warning information.

[0027] In this example, the content of the abnormal data accumulated in the second recording section 13b of the database 14 is automatically updated as appropriate. Specifically, with the accumulation of vibration data related to the same type of conveying device 2 in a wide range of regions (for example, regions spanning multiple countries), for example, the content (including the inferred content or cause of the abnormality, etc.) showing the abnormality (or signs of the abnormality) associated with the waveform data (waveform data showing the relationship between sound pressure and frequency, etc.) or the working state of the drive unit 3 (the transition process of the action, etc.) is appropriately updated (corrected). In short, the database 14 has a learning function. Thus, the judgment criterion (such as the similarity of the waveform data) for the determination unit 15 to determine whether there is a sign of abnormality based on the abnormal data is optimized (updated) at any time. Thus, the warning information output to the warning device 6 also becomes information that is optimized at any time.

[0028] The control unit 18 is configured to be able to control a plurality of conveying devices 2. Figures 5 to 7As shown, the control unit 18 executes the inspection mode. In addition, in addition to the inspection mode, the control unit 18 can also execute the normal monitoring mode. In the normal monitoring mode, when multiple conveying devices 2 are being used to transport the article W, the vibration detection unit 11 obtains vibration data. In this example, the control device 7 (here, the control unit 18) obtains vibration data from the vibration detection unit 11 installed on each of the multiple conveying devices 2 (S01). In addition, with respect to the multiple conveying devices 2, the control device 7 can also obtain vibration data at the same time, or can make the acquisition period different. In addition, the control device 7 can also obtain vibration data from the vibration detection unit 11 in real time, and can also obtain vibration data from the vibration detection unit 11 at each predetermined period. Thereafter, the control device 7 performs judgment processing on each vibration data obtained (S02). Thereafter, the control device 7 (here, the judgment unit 15) performs output control (S03).

[0029] In the inspection mode, a selected one of the multiple conveying devices 2 is set as the target conveying device 2a, and the control unit 18 stops the operation of the conveying devices 2 other than the target conveying device 2a and causes the target conveying device 2a to operate, and executes the inspection mode in which the vibration detection unit 11 obtains vibration data. In addition, in the present embodiment, when the target conveying device 2a has multiple driving units 3, the control unit 18 causes the multiple driving units 3 to operate one by one in sequence in the inspection mode, and obtains vibration data using the vibration detection unit 11 while causing each driving unit 3 to operate. In this example, the control device 7 (here, the control unit 18) executes the inspection stop control and the inspection work control in the inspection mode. The inspection stop control is a control that stops the operation of the conveying devices 2 other than the target conveying device 2a among the multiple conveying devices 2 that are in operation. In Figure 2 In the example of , the operation of the transport apparatuses 2 other than the target transport apparatus 2a among the plurality of (here, two) transport apparatuses 2 having a common travel path 5 is stopped. Figure 3 In the example of , the operation of the transport apparatuses 2 other than the target transport apparatus 2a among the plurality of transport apparatuses 2 having different travel paths 5 is stopped. Figure 3 In the example, when the distance in the second direction Y between the plurality of conveying devices 2 and the target conveying device 2a is relatively far (as an example, the distance is such that two warehouses 1 can be arranged between the two conveying devices 2), it is not necessary to stop the operation of all conveying devices 2 except the target conveying device 2a. In this case, it is also possible to stop the operation of only the conveying device 2 adjacent to the target conveying device 2a. Figure 6As shown, in this embodiment, the control device 7 performs inspection stop control (S11) in the inspection mode. Thereafter, the control device 7 performs inspection operation control (S12). Thereafter, the control device 7 performs determination processing (S13). Thereafter, the control device 7 performs output control (S14).

[0030] In checking work control, e.g. Figure 7 As shown, the control device 7 (here, the control unit 18) causes the multiple drive units 3 to operate one by one in sequence with respect to the object conveying device 2a. In this example, the control device 7 performs travel control (S21) with respect to the object conveying device 2a. Thereafter, the control device 7 performs lifting control (S22). Thereafter, the control device 7 performs transfer control (S23). In more detail, the control unit 18, as a travel control, causes the travel device 20 to travel in a state where the operations of the lifting device 36 and the transfer device 24 have been stopped. Furthermore, the control unit 18, as a lifting control, causes the lifting device 36 to move up and down after stopping the travel device 20. Thereafter, the control unit 18 stops the lifting device 36. Furthermore, the control unit 18, as a transfer control, causes the transfer mechanism of the transfer device 24 to move forward and backward. The control device 7 obtains vibration data of the drive unit 3 that is in operation using the vibration detection unit 11. In addition, the order in which the multiple drive units 3 are caused to operate one by one is set to be changeable as appropriate.

[0031] The conditions under which the control unit 18 executes the inspection mode can be pre-set. For example, the control unit 18 can automatically execute the inspection mode during a period when no articles W are being transported. Alternatively, the administrator of the conveyor system 100 can manually (manually input) issue an instruction to execute the inspection mode, causing the control unit 18 to execute the inspection mode. Furthermore, the control unit 18 can pre-set the order in which the target conveyor system 2a is designated among the multiple conveyor systems 2. Furthermore, the administrator of the conveyor system 100 can also manually designate the target conveyor system 2a. In this way, the schedule for executing the inspection mode can be appropriately set.

[0032] [Second embodiment] based on Figure 8 The second embodiment of the conveying device 100 will be described. Hereinafter, the conveying device 100 of this embodiment will be described, focusing on the differences from the first embodiment. Any aspects not specifically described will be denoted by the same reference numerals as in the first embodiment, and detailed description will be omitted.

[0033] In this embodiment, the plurality of transport devices 2 include a plurality of transport vehicles 25, and the plurality of transport vehicles 25 are configured to travel on a common travel path 5. In this example, Figure 8As shown, a plurality of transport vehicles 25 for transporting articles W to a plurality of warehouses 1 are arranged as the transport device 2. The transport vehicles 25 are rail-guided transport vehicles that travel along rails R laid along a travel path 5.

[0034] In this embodiment, one transport vehicle 25 serving as the target transport device 2a is designated as the target transport vehicle 25a. When executing inspection mode, the control unit 18 causes the transport vehicles 25 other than the target transport vehicle 25a to move outside the inspection section 81 set in the travel path 5 and stop. Thereafter, while the target transport vehicle 25a is traveling within the inspection section 81, vibration data is acquired using the vibration detection unit 11. In this example, the travel path 5 includes a straight section and a curved section. Furthermore, the inspection section 81 is set to be a portion of the straight section. The control device 7 (here, the control unit 18) causes the target transport vehicle 25a among the multiple transport vehicles 25 to move to the starting end of the inspection section 81 and causes the other transport vehicles 25 to move to sections other than the inspection section 81. Furthermore, the control device 7 executes inspection mode for the target transport vehicle 25a while causing the transport vehicles 25 other than the target transport vehicle 25a to stop within sections other than the inspection section 81. Furthermore, when the transport vehicle 25 includes multiple drive units 3, it is preferable to execute inspection operation control in inspection mode. In addition, the transport vehicle 25 may be a trackless transport vehicle that autonomously travels on the ground, etc., in addition to a track-guided transport vehicle. In addition, the inspection section 81 may include a curved section in the travel route 5 .

[0035] [Other Implementation Methods] (1) In the first embodiment listed above, the conveying device 2 is described as a stacking crane, but the present invention is not limited to this. The conveying device 2 may also be a conveying device 2 other than a stacking crane. For example, the conveying device 2 may also be a ceiling conveying vehicle that suspends and conveys articles W, a conveyor that carries and conveys articles W, a rail-mounted conveying trolley that travels along a track, a trackless conveying trolley that travels autonomously on the ground, etc. In addition, a plurality of conveying devices 2 may also include a combination of different types of conveying devices 2. For example, a plurality of conveying devices 2 may include different types of conveying devices 2 such as the ceiling conveying vehicle, rail-mounted conveying trolley, trackless conveying trolley, and conveyor. In addition, the conveying device 2 may also be, for example, a transfer device 24 of a stacking crane.

[0036] (2) In the first embodiment listed above, the following configuration is described as an example: the control unit 18 causes the multiple drive units 3 to operate one by one in sequence in the inspection mode. However, the present invention is not limited to this. The control unit 18 may cause the multiple drive units 3 to operate at the same time in the inspection mode. In addition, it is also possible to cause some of the multiple drive units 3 to operate one by one in sequence, and cause the remaining drive units 3 to operate at the same time. In addition, it is also possible to divide the conveyor equipment 100 into multiple areas in the inspection mode, so that one or more conveyor devices 2 are arranged in each area. Moreover, the inspection mode may be performed at the same time for the conveyor devices 2 in each area. In this case, the multiple drive units 3 may be caused to operate one by one in sequence for the conveyor devices 2 that are the objects of the inspection mode in each area. It is appropriate to change the size of each divided area appropriately according to, for example, the amount of reference data that the control unit 7 can obtain from the database 14 at the same time or the scale of the multiple conveyor devices 2 installed in the conveyor equipment 100.

[0037] (3) In the first embodiment listed above, the following configuration is described as an example: the control unit 18 can execute the normal monitoring mode in addition to the inspection mode. However, this is not limiting. The control unit 18 can also be configured to execute only the inspection mode, for example. In addition, in the case where the plurality of conveyor devices 2 are a combination of different types of conveyor devices 2, the control unit 18 can, for example, execute the normal monitoring mode and the inspection mode at the same time for each type of conveyor device 2.

[0038] (4) In the first embodiment described above, the following configuration is described as an example: abnormality data showing the relationship between abnormalities and vibration data generated in the past for each type of conveyor device 2 is recorded in the second recording portion 13b. However, the present invention is not limited to this. Abnormality data may also be recorded in the first recording portion 13a. Alternatively, abnormality data may be recorded in both the first recording portion 13a and the second recording portion 13b. Alternatively, a configuration may be adopted in which abnormality data is not included in the reference data, or in which reference data is not included in the reference data.

[0039] (5) In the first embodiment listed above, the vibration data is described as an example in which the data of the sound of vibration transmitted through the air is used, but the present invention is not limited to this. The vibration data can also be set as data of mechanical vibration as vibration transmitted through the structure including the conveying device 2. In this case, it is appropriate that the vibration detection unit 11 is set as a vibration sensor. In addition, the vibration detected by the vibration detection unit 11 is converted from data showing the relationship between the vibration number and time to vibration data showing the relationship between the vibration number and frequency through Fourier transformation. In addition, the vibration data can also be set as data including both data of the sound of vibration transmitted through the air and data of the mechanical vibration as vibration transmitted through the structure including the conveying device 2.

[0040] (6) In the second embodiment listed above, the following configuration is used as an example for explanation: when executing the inspection mode, the control unit 18 moves the transport vehicles 25 other than the target transport vehicle 25a to outside the inspection section 81 set on the travel path 5 and stops, and then obtains vibration data using the vibration detection unit 11 while the target transport vehicle 25a is traveling in the inspection section 81. However, the present invention is not limited to this. The control unit 18 can also cause the transport vehicles 25 other than the target transport vehicle 25a to travel at a speed lower than the normal speed outside the inspection section 81 while executing the inspection mode. In this way, it is appropriate that, in the inspection mode, the travel state of the transport vehicles 25 other than the target transport vehicle 25a can be appropriately changed according to the distance of the travel path 5 or the number of transport vehicles 25 traveling on the travel path 5.

[0041] (7) In addition, the configurations disclosed in each of the above-mentioned embodiments can also be combined with the configurations disclosed in other embodiments (including combinations of the embodiments described as other embodiments) as long as no contradiction arises. With respect to other configurations, the embodiments disclosed in this specification are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the scope of the present disclosure.

[0042] [Summary of the above implementation methods] Hereinafter, the transportation equipment described above will be summarized and described.

[0043] The conveying equipment involved in the present disclosure is a conveying equipment including a plurality of conveying devices for conveying articles and a determination system for determining the status of the plurality of conveying devices. The determination system comprises: a vibration detection unit for detecting vibrations generated from each of the plurality of conveying devices and acquiring vibration data representing the vibrations; a recording unit for recording the vibration data acquired by the vibration detection unit; a determination unit for determining the state of each of the conveying devices based on the vibration data; and a control unit. The recording unit records at least reference data used for determining the state of each of the plurality of conveying devices. The determination unit is configured to determine whether or not there is a sign of abnormality in the conveying device based on the reference data recorded in the recording unit and the vibration data obtained by the vibration detection unit. One of the plurality of transport devices is selected as a target transport device, The control unit executes a check mode in which the vibration detection unit acquires the vibration data while stopping the operations of the conveying devices other than the target conveying device and operating the target conveying device.

[0044] According to this configuration, in a conveying facility including a plurality of conveying devices, the presence or absence of abnormality signs in each conveying device can be determined based on vibration data indicating vibrations generated in each of the plurality of conveying devices and reference data recorded in the recording unit. Furthermore, according to this configuration, by executing the inspection mode, the operation of conveyors other than the target conveyor is stopped. This allows vibration data of the target conveyor to be acquired while minimizing the influence of vibrations generated by other conveyors. This facilitates improving the accuracy of the vibration data and, consequently, the accuracy of determining whether or not there are signs of abnormalities in the conveyor.

[0045] Here, it is appropriate that when the object conveying device has a plurality of driving units, the control unit causes the plurality of driving units to operate one by one in sequence in the inspection mode, and obtains the vibration data using the vibration detection unit while causing each of the driving units to operate.

[0046] According to this configuration, in inspection mode, the multiple drive units of the target conveyor device are operated sequentially one by one, thereby acquiring vibration data for each drive unit while minimizing the influence of vibrations generated by other drive units. This facilitates improving the accuracy of the vibration data and, consequently, the accuracy of determining whether or not there are signs of abnormalities in the various parts of the conveyor device.

[0047] Furthermore, it is suitable that the control unit can execute a normal monitoring mode in addition to the inspection mode. In the normal monitoring mode, the vibration data is acquired by the vibration detecting unit while the plurality of conveying devices are conveying articles.

[0048] According to this configuration, while the accuracy of determination may sometimes decrease compared to the inspection mode, even when multiple conveyor devices are used to transport items, it is still possible to determine whether each conveyor device has signs of abnormality. Therefore, it is easy to detect signs of abnormality in each conveyor device at an early stage.

[0049] Furthermore, it is preferable that the reference data include abnormality data showing a relationship between abnormalities generated in the past by the conveying device of each model and the vibration data. The determination unit performs the determination based on the abnormality data and the vibration data acquired by the vibration detection unit.

[0050] This configuration makes it possible to determine whether there are signs of abnormalities based on the vibration data obtained by the vibration detection unit by using the relationship between past abnormalities generated by each type of conveyor device and the vibration data before or at the time of the abnormality. Therefore, it is possible to appropriately determine whether there are signs of abnormalities in the conveyor device.

[0051] Furthermore, it is preferable that the vibration data include data of at least one of sound which is vibration transmitted via air and mechanical vibration which is vibration transmitted via a structure including the conveying device.

[0052] According to this configuration, vibration data indicating the state of the conveying device can be appropriately acquired as vibration data based on sound or mechanical vibration.

[0053] Furthermore, it is suitable that the plurality of transport devices include a plurality of transport vehicles, and the plurality of transport vehicles are configured to travel on a common travel path. One of the aforementioned transport vehicles serving as the aforementioned target transport device is set as the target transport vehicle, When executing the inspection mode, the control unit moves the transport vehicles other than the target transport vehicle to outside the inspection section set in the driving path and stops them. Thereafter, while the target transport vehicle is driving in the inspection section, the vibration data is acquired using the vibration detection unit.

[0054] This configuration allows vibration data from a specific transport vehicle to be acquired while minimizing the impact of other transport vehicles on the vibration data, even when multiple transport vehicles are traveling along a common route. This improves the accuracy of the vibration data and, consequently, the accuracy of determining whether a transport vehicle has any signs of an abnormality.

[0055] The conveying equipment according to the present disclosure only needs to achieve at least one of the above-mentioned effects.

Explanation of symbols

[0056] 2: Conveying device 2a: Object conveying device 3: Drive unit 5: Driving path 10: Judgment System 11: Vibration detection unit 13: Records Department 15: Judgment Department 18: Control Department 25: Transport vehicle 25a: Object transport vehicle 81: Check interval 100: Conveying equipment W: Item

Claims

1. A conveying device comprising a plurality of conveying devices for conveying articles and a determination system for determining the status of the plurality of conveying devices. The conveying equipment has the following characteristics: The determination system comprises: a vibration detection unit that detects vibrations generated from each of the plurality of conveying devices and obtains vibration data representing the vibrations; a recording unit that records the vibration data obtained by the vibration detection unit; a determination unit that determines the state of each of the conveying devices based on the vibration data; and a control unit. The recording unit records at least reference data used for determining the state of each of the plurality of transport devices. The determination unit is configured to determine whether or not there is a sign of abnormality in the conveying device based on the reference data recorded in the recording unit and the vibration data acquired by the vibration detection unit. selecting one of the plurality of transport devices as a target transport device, The control unit executes the inspection mode in which the vibration detection unit acquires the vibration data while stopping the operations of the transport devices other than the target transport device and operating the target transport device.

2. The conveying device according to claim 1, wherein When the target transport device includes a plurality of drive units, the control unit operates the plurality of drive units one by one in sequence in the inspection mode, and acquires the vibration data using the vibration detection unit while each of the drive units is in operation.

3. The conveying device according to claim 1, wherein In addition to the inspection mode, the control unit can also execute a normal monitoring mode. In the normal monitoring mode, the vibration data is acquired by the vibration detection unit while the plurality of conveyance devices are conveying articles.

4. The conveying device according to any one of claims 1 to 3, wherein: The reference data includes abnormality data showing a relationship between abnormalities generated in the past by the conveying device of each model and the vibration data. The determination unit performs the determination based on the abnormality data and the vibration data acquired by the vibration detection unit.

5. The conveying device according to any one of claims 1 to 3, wherein The vibration data includes data of at least one of sound which is vibration transmitted via air and mechanical vibration which is vibration transmitted via a structure including the conveying device.

6. The conveying device according to any one of claims 1 to 3, wherein: The plurality of transport devices include a plurality of transport vehicles, and the plurality of transport vehicles are configured to travel on a common travel path. One of the transport vehicles serving as the target transport device is defined as a target transport vehicle. When executing the inspection mode, the control unit moves the transport vehicles other than the target transport vehicle to outside the inspection section set in the driving route and stops them, and then obtains the vibration data using the vibration detection unit while the target transport vehicle is driving in the inspection section.

Images