Device module, transport module and program

Abstract

A facility module (1) is provided with a stand (11) that supports one or more transport modules (2, 12) and that supports each of the transport modules (2, 12) such that a part of at least one of the transport modules (2, 12) protrudes in the horizontal direction from the stand (11), and the arrangement of the stand (11) can be reorganized. The equipment module (1) is connected with an adjacent equipment module (1) through conveying modules (2, 12) protruding from the stand (11) in the horizontal direction.

Description

Technical Field

[0001] The present invention relates to an equipment module, a transport module and a program. Background Art

[0002] Various technologies have been proposed for ensuring smooth travel of a rail-based vehicle even when positional misalignment (lateral misalignment) occurs between the traveling rails and the connecting rails. For example, Patent Document 1 discloses a rail device comprising a pair of traveling rails for guiding the rail-based vehicle and a connecting rail interposed between the traveling rails. A rail support mechanism for supporting the connecting rails is provided on both the traveling rail side and the other traveling rail side of the connecting rails, and the connecting rail is configured to be horizontally rotatable with the rail support mechanism serving as a fulcrum.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Publication No. 2005-076290 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, the aforementioned conventional technology is designed to address even subsequent positional misalignment. Therefore, when initially installing the conveyor modules that form the conveyor path, highly precise assembly and adjustment of the conveyor modules and their supporting mechanisms, as well as calibration to correct their coordinates, are required, a laborious task. The complex structure of the supporting mechanisms makes their installation particularly laborious.

[0008] One aspect of the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to allow a slight positional deviation between conveying modules without complicating the structure, thereby reducing the installation effort.

[0009] Solutions to Problems

[0010] In order to solve the above-mentioned problem, one scheme of the present invention relates to an equipment module, which is equipped with a platform, which supports one or more conveying modules, and the configuration of the platform can be reorganized. It is characterized in that the platform supports each conveying module so that at least a part of any conveying module protrudes from the platform in a horizontal direction, and the equipment module is connected to the adjacent equipment module via the conveying module protruding from the platform in a horizontal direction.

[0011] In addition, other schemes of the present invention relate to a conveying module that connects equipment modules to each other, and the equipment module comprises: a platform whose configuration can be reorganized; and a conveying module on the platform, which is supported by a single platform, and is characterized in that the conveying module is arranged at a position to bridge the conveying modules on the platform possessed by each equipment module.

[0012] In addition, another embodiment of the present invention relates to a program that causes a computer to execute: a first step of simulating the arrangement of the equipment modules; and a second step of simulating the connection of the equipment modules via a conveying module protruding horizontally from the platform.

[0013] Furthermore, a recording medium according to another aspect of the present invention is a computer-readable recording medium on which the above-mentioned program is recorded.

[0014] Effects of the Invention

[0015] According to one aspect of the present invention, a slight positional deviation between the conveying modules can be tolerated without complicating the structure, thereby reducing installation labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an example of a schematic diagram of a conveying system.

[0017] Figure 2 This is an example of a functional block diagram including the components of the conveying system.

[0018] Figure 3 This is an example of a perspective view showing a transport module and a guide block on a platform included in the transport system.

[0019] Figure 4 This is an example of a perspective view showing two guide rails connected by a spacer.

[0020] Figure 5 This is an example of a schematic diagram when the spacer and the guide rail are viewed from the y-axis direction.

[0021] Figure 6 This is an example of a perspective cross-sectional view of a guide pad.

[0022] Figure 7 This is an example of a cross-sectional view of the guide pad taken on a plane perpendicular to the sliding direction of the guide pad.

[0023] Figure 8 This is an example of a cross-sectional view of the circulation path inside the guide pad.

[0024] Figure 9 This is an example of a top view of a guide rail and a spacer.

[0025] Figure 10This is an example of a plan view of a conventional conveying system in which guide rails are connected without a spacer, and the conveying system according to this example.

[0026] Figure 11 This is an example of a cross-sectional view of the guide pad taken on a plane parallel to the sliding direction of the guide pad.

[0027] Figure 12 These are diagrams showing examples of cross-sectional views of guide pads in which the number of loaded rolling elements varies from three to one when crossing a step in a single circulation path.

[0028] Figure 13 This is a graph showing the results of simulations performed for each number of loaded rolling elements when crossing a step, with respect to the maximum surface pressure to which each loaded rolling element is subjected.

[0029] Figure 14 This is an example of a cross-sectional view of the guide pad taken on a plane parallel to the sliding direction of the guide pad.

[0030] Figure 15 This is a graph showing the relationship between the guide pad stroke and the sliding resistance generated in the guide pad at various numbers of loaded rolling elements.

[0031] Figure 16 This is an example of a perspective view showing a spacer and a guide rail according to a modified example.

[0032] Figure 17 This is an example of a functional block diagram of a simulation device.

[0033] Figure 18 This is an example of a schematic diagram of a conveyance system in which each equipment module is connected by connecting conveyance modules to each other on a rack. DETAILED DESCRIPTION

[0034] <Conveyor System>

[0035] An embodiment of a conveyance system according to one aspect of the present invention will be described in detail. A conveyance system 100 according to this embodiment is a system that slides a guide block 4 serving as a carriage to convey a workpiece to be processed or measured.

[0036] Figure 1 FIG. 1 is an example of a schematic diagram of the transport system 100. Figure 1 As shown, the conveyance system 100 includes a plurality of equipment modules 1 , one or more splicing and conveyance modules 2 (second conveyance modules), one or more spacers 3 , and one or more guide blocks 4 . Figure 2 This is an example of a functional block diagram including other components of the conveying system 100. Figure 2As shown, the conveying system 100 further includes a plurality of drivers 5 and a controller 6. Figure 1 and Figure 2 The components included in the transport system 100 will be described below.

[0037] [Device Module]

[0038] like Figure 1 As shown, each equipment module 1 includes a platform 11 and an on-platform conveying module 12 (first conveying module). It should be noted that a single equipment module 1 may include multiple platforms 11 and multiple on-platform conveying modules 12. Furthermore, the number of platforms 11 and the number of on-platform conveying modules 12 in a single equipment module 1 may differ.

[0039] (stand)

[0040] The upper surface of the stand 11 is a horizontal plane. The height of each stand 11 (the distance in the z-axis direction from the floor surface on which the stand 11 is arranged to the upper surface) is the same. A machine not shown in the figure is provided on at least any one of the multiple stands 11. The machine performs prescribed processing or measurement on the workpieces conveyed by the conveying module 12 on the stand and the adjacent splicing conveying module 2. Normally, when the conveying system 100 is in operation, the stand 11 is fixed to the floor surface, and the configuration of the stand 11 can be reorganized. This means that the configuration of the equipment module 1, the conveying module 12 on the stand, the splicing conveying module 2 and the guide rail 122 can also be reorganized. As a result, when the product manufactured using the conveying system 100 is changed, it can be quickly reorganized into a manufacturing line suitable for other products.

[0041] (Conveyor module on the platform)

[0042] The transport module 12 on the platform is supported by a single (integrated) platform 11. In one embodiment, the transport module 12 on the platform is fixed to the upper surface of the platform 11 by bolts or other fixings, and is supported as a whole by the single platform 11. However, as described later Figure 18 As shown, the on-stage conveying module 12 and a portion of the guide rail 122 may be structures protruding from a single stage 11. It should be noted that the on-stage conveying module 12 may be bonded to the stage 11 or welded to the stage 11.

[0043] Figure 3 This is an example of a perspective view showing the on-gantry transport module 12 and guide block 4 included in the transport system 100. The on-gantry transport module 12 is a moving magnetic component and includes a main body 121, a guide rail 122, a sensor array 123, and a plurality of coils 124. It should be noted that a single on-gantry transport module 12 may include a single number of coils 124.

[0044] (main body)

[0045] The main body 121 is a rectangular member when viewed from above. A platform portion 121a is formed in the center of the main body 121, extending in the longitudinal direction (x-axis direction) and convex upward (in the negative z-axis direction). Fixing portions 121b are formed at both ends of the main body 121 in the transverse direction (y-axis direction), protruding in the transverse direction. Bolt holes are formed in the fixing portions 121b for securing the main body 121 to the stand 11.

[0046] (guide)

[0047] The guide rail 122 is mounted on the platform 121a of the main body 121 so that its longitudinal direction is aligned with the longitudinal direction of the main body 121. Typically, the guide rail 122 is made of metal. The longitudinal length of the guide rail 122 is shorter than the longitudinal length of the main body 121 (or the platform 121a) by an amount corresponding to the location where the spacer 3 is mounted. The guide rail 122 is mounted on the platform 121a so that its longitudinal center is aligned with the longitudinal center of the main body 121 (or the platform 121a). Therefore, at both longitudinal ends of the upper surface of the platform 121a, there is an area approximately half the length of the spacer main body 31 where the guide rail 122 is not installed. Half of the spacer 3 used to connect the guide rail 122 is located in this area.

[0048] Figure 4 1 is an example of a perspective view showing two guide rails 122 connected by a spacer 3. Figure 4 As shown, the guide rail 122 has a snap-fitting portion 122a at both ends in the longitudinal direction for connecting to the spacer 3. The snap-fitting portion 122a involved in this embodiment is a recessed portion 122a for connecting to the protrusion 32 of the spacer 3. More specifically, the recessed portion 122a is a groove that is continuous from one end to the other end in the transverse direction of the guide rail 122. It should be noted that the spacer 3 may have a recessed recessed portion, and the guide rail 122 may have a protruding protrusion as the snap-fitting portion 122a. In addition, the snap-fitting portions 122a at both ends of the guide rail 122 may have different shapes at one end and the other end, for example, one may be a recessed portion and the other may be a protruding portion. In addition, the protrusion or recessed portion may also be provided on a component other than the guide rail 122 (for example, the main body 121) in the transport module 12 on the platform.

[0049] (Sensor Array)

[0050] like Figure 3As shown, the sensor array 123 includes a support member 123a and multiple sensors 123b. The support member 123a is in the shape of a square rod and is attached to the guide rail 122. The multiple sensors 123b are arranged at predetermined intervals along the longitudinal direction on the side of the support member 123a facing the opposite side (negative y-axis direction) from the side facing the guide rail 122. The sensor 123b reads the scale of the guide block 4 when the guide block 4 slides along the longitudinal direction of the conveying module 12 on the platform equipped with the sensor 123b. The scale is provided on the inner wall of the guide block 4 at a position opposite to the sensor 123b. It should be noted that the sensor array 123 may include a single sensor 123b. Alternatively, the sensor 123b may be mounted on the platform 121a of the main body 121, etc. In this case, the sensor array 123 may not include the support member 123a.

[0051] (Coil)

[0052] The plurality of coils 124 are attached to the guide rail 122. Specifically, the plurality of coils 124 are installed on one side of the short side of the main body 121 in a manner arranged along the long side of the guide rail 122. Figure 2 As shown, the plurality of coils 124 are associated with a driver 5 that controls the power supplied to the coils 124. The coils 124 are divided into a plurality of groups, and a single driver 5 is associated with one or more coils 124 included in each group. The number of coils 124 associated with a single driver 5 can be as follows: Figure 2 As shown in the figure, there are two, but there may be one or more than three. The plurality of coils 124 are arranged in a row, so there is a coil 124 facing the side of the adjacent splicing conveying module 2 (arranged at the end) among the plurality of coils 124. Hereinafter, this coil 124 is sometimes referred to as the end coil 124. In addition, the driver 5 associated with the end coil 124 among the plurality of drivers 5 is sometimes referred to as the first driver 5. The plurality of coils 124 generates a magnetic field for sliding the guide block 4 based on the control of the driver 5. It should be noted that all of the plurality of coils 124 possessed by the conveying module 12 on a single platform can also be associated with a single driver 5.

[0053] [Splicing conveyor module]

[0054] like Figure 1As shown, the splicing conveying module 2 is provided at a position that bridges the on-stage conveying module 12 possessed by the equipment module 1 and the on-stage conveying module 12 possessed by the equipment module 1 adjacent to the equipment module 1. Thus, the splicing conveying module 2 connects the equipment modules 1 to each other. The splicing conveying module 2 is constructed in the same manner as the on-stage conveying module 12 except for its configuration. That is, the splicing conveying module 2 has a main body 121, a guide rail 122, a sensor array 123 and a plurality of coils 124, or components equivalent thereto. Therefore, the splicing conveying module 2 also has an end coil 124 facing the side of the on-stage conveying module 12. Hereinafter, the driver 5 among the plurality of drivers 5 that is associated with the end coil 124 of the splicing conveying module 2 is sometimes referred to as the second driver 5.

[0055] [Spacer]

[0056] like Figure 1 As shown, the spacer 3 is installed between the platform conveyor module 12 and the splicing conveyor module 2. Specifically, the spacer 3 spans the upper surface of the end of the platform portion 121a of the platform conveyor module 12 and the upper surface of the end of the platform portion 121a of the splicing conveyor module 2, connecting the guide rails 122 at both ends. It should be noted that the spacer does not necessarily need to span the modules; the end surface of the spacer can also be located on the surface of one module.

[0057] In one embodiment, the spacer 3 is made of resin, but may be made of other materials. By making the spacer 3 of resin, it can be manufactured cheaply and easily. The spacer 3 includes a spacer body 31 and an engaged portion 32 .

[0058] like Figure 4 As shown, the contour of the spacer 3 when viewed from the direction in which the spacer 3 is mounted (the y-axis direction) coincides with the contour of the guide rail 122 when viewed from the same direction at the boundary surface. Furthermore, the length of the spacer body 31 in the x-axis direction may be slightly shorter, for example, by approximately 0.2 mm, than the distance from the end face of the guide rail 122 of the on-stage conveyor module 12 to the end face of the guide rail 122 of the splicing conveyor module 2. This is because the inclination of the spacer 3 can be easily changed, as described later.

[0059] The engaged portion 32 is provided at both ends of the spacer body 31 that are connected to the guide rail 122. The engaged portion 32 involved in this embodiment is a convex portion 32 for connecting to the concave portion 122a of the conveying module 12 or the conveying module 2 on the platform. The spacer 3 connects the adjacent conveying modules 12 and the splicing conveying module 2 on the platform in the longitudinal direction. In addition, the convex portion 32 is as described later. Figure 5As shown, the width of the base end portion in the vertical direction is narrower than that of the top end portion. Therefore, a gap is created between the base end portion and the recess 122a of the convex portion 32 that engages with the recess 122a, allowing the inclination of the spacer 3 to vary. It should be noted that the engaged portion 32 may also be a recessed portion for connecting to the convex portion of the transport module 12 or transport module 2 on the platform. Furthermore, the engaged portions 32 at both ends may have different shapes at one end and the other.

[0060] [Connection of device modules]

[0061] The equipment modules 1 are arranged in a row at predetermined intervals, with the longitudinal direction of the guide rails 122 aligned with the direction of arrangement. The predetermined interval is a length that does not exceed the longitudinal length of a single splicing and conveying module 2. It should be noted that the length of the conveying modules 12 on each platform may not be the same as the length of each splicing and conveying module 2. The equipment module 1 is connected to the adjacent equipment module 1 via the splicing and conveying module 2. The splicing and conveying module 2 may also be a structure in which both ends of the longitudinal direction are fixed to the platforms 11 at both ends of the bridge by bolts or other fixtures.

[0062] In the case of a structure in which modules corresponding to the equipment modules 1 (or the on-frame conveyor modules 12) are connected to each other without using the splicing conveyor modules 2, the height accuracy of the frames must be accurately matched, and sometimes leveling and height adjustment are time-consuming. In addition, the time required can vary greatly depending on the skill of the installer, making it difficult to operate in a planned manner. On the other hand, according to the structure of this embodiment in which the equipment modules 1 are connected to each other via the splicing conveyor modules 2, the splicing conveyor modules 2 can absorb and alleviate slight positional deviations between the frames 11. This allows for slight positional deviations between the on-frame conveyor modules 12 of the equipment modules 1 without complicating the structure, thus reducing the installation effort.

[0063] In addition, the on-stage conveying module 12 is connected to the adjacent splicing conveying module 2 in the long-side direction via the spacer 3. More specifically, the guide rail 122 of the on-stage conveying module 12 is connected to the guide rail 122 of the adjacent splicing conveying module 2 in the long-side direction via the spacer 3. At this time, the on-stage conveying module 12 and the splicing conveying module 2 are connected via the spacer 3 that can be loaded and unloaded when the configuration of each conveying module 12, 2 is fixed. As described above, the engaging portion 122a of the guide rail 122 is a groove that is continuous from one end to the other end in the short-side direction of the guide rail 122. Therefore, the spacer 3 can be loaded and unloaded between the on-stage conveying module 12 and the adjacent on-stage conveying module 12 in the fixed configuration state simply by passing the engaged portion 32 (protrusion 32) through the groove from the horizontal direction.

[0064] In many cases, the spacer 3 reaches the end of its life before the guide rail 122 . Therefore, the above-described structure that allows the spacer 3 to be replaced without moving the guide rail 122 greatly contributes to improving user convenience.

[0065] Furthermore, the arrangement of multiple equipment modules 1 (or on-stage transport modules 12) connected by the splicing transport modules 2 and spacers 3 can be rearranged. Specifically, even if the spacers 3 and splicing transport modules 2 are removed after the multiple equipment modules 1 have been arranged, their arrangement order is changed, and they are then reconnected by the splicing transport modules 2 and spacers 3, the transport system 100 still functions in the order of that arrangement.

[0066] As described above, the length of the spacer body 31 in the x-axis direction may be slightly shorter than the distance from the end face of the guide rail 122 of the on-stage conveying module 12 to the end face of the guide rail 122 of the splicing conveying module 2. Therefore, a slight gap is formed between the guide rail 122 and the spacer body 31. In addition, the inclination of the spacer 3 can be changed when it is connected to the guide rail 122. Therefore, when the on-stage conveying module 12 and the splicing conveying module 2 are connected, the spacer 3 can have an inclination corresponding to the relationship between the height of the guide rail 122 of the on-stage conveying module 12 and the height of the guide rail 122 of the splicing conveying module 2.

[0067] When there is no difference in height between the guide rails 122 of the on-stage conveyance module 12 and the guide rails 122 of the splicing conveyance module 2 , the upper surface of the spacer 3 is flush with and horizontal to the upper surface of each guide rail 122 .

[0068] Figure 5 This is an example of a schematic diagram when the spacer 3 and the guide rail 122 are viewed from the y-axis direction. Figure 5 As shown, when there are differences in the heights of the guide rails 122, the upper surface of the spacer 3 is inclined so that the height of one end is substantially the same as the height of the upper surface of the lower guide rail 122, and the height of the other end is substantially the same as the height of the upper surface of the higher guide rail 122. As a result, the difference in height between the upper surface of the guide rail 122 and the upper surface of the spacer 3 is reduced to approximately 1 / 10 of the difference in height between the upper surfaces of the guide rails 122.

[0069] Broadly speaking, in spacer 3, the first surface (e.g., the top surface) of spacer 3 is positioned so as to extend from the end of the first surface of first guide rail 122 to the end of the first surface of adjacent second guide rail 122, and the second surface (e.g., the bottom surface) of spacer 3 is positioned so as to extend from the end of the second surface of first guide rail 122 to the end of the second surface of second guide rail 122. Here, the first surfaces of each component are all on the same side, and the same applies to the second surfaces.

[0070] The first and second surfaces of the spacer 3, the first guide rail 122, and the second guide rail 122 are mutually opposing surfaces of the components. That is, the first and second surfaces are one and the other of the upper and lower surfaces, or one and the other of the side surfaces.

[0071] In addition, from another perspective, it can be said that the spacer 3 is installed in the first guide rail 122 and the second guide rail 122 in a manner that enables the spacer 3 to absorb the position error of each guide rail 122 in a direction orthogonal to the connection direction, that is, to connect the ends of each guide rail 122 that may have positional offset.

[0072] In addition, if Figure 5 As shown in the example, the concave portion 122a of the guide rail 122 and the convex portion 32 of the spacer 3 do not need to be located at the center of the guide rail 122 in the z-axis direction. By manufacturing the guide rail 122 and the spacer 3 with their positions offset from the center, the movable range of the tilt of the spacer 3 can be adjusted. It should be noted that the same applies to the case where the guide rail 122 has a convex portion and the spacer 3 has a concave portion.

[0073] [Boot Block]

[0074] The guide block 4 slides on the guide rail 122 along the long side direction of the guide rail 122. As described above, the conveying module 12 on the platform is connected to the adjacent splicing conveying module 2 in the long side direction via the spacer 3. Therefore, the guide block 4 can also slide between the guide rail 122 of the conveying module 12 on the platform and the guide rail 122 of the adjacent splicing conveying module 2. As described above, the conveying module 12 on the platform involved in this embodiment is a moving magnetic type component, so the guide block 4 also becomes a component corresponding to the moving magnetic type. That is, the guide block 4 has a magnet not shown in the figure and the above-mentioned scale. The attractive force or repulsive force generated between the magnet and the coil 124 of the conveying module 12 on the platform or the splicing conveying module 2 becomes the power of the guide block 4.

[0075] In many cases, a table for placing a workpiece is installed above the guide block 4. In addition, the single conveying system 100 may include a plurality of guide blocks 4, or may be a structure in which a single table is installed for a plurality of guide blocks 4.

[0076] Figure 6 : is an example of a perspective cross-sectional view of the guide pad 4. Figure 7 FIG. 4 is an example of a cross-sectional view of the guide block 4 on a plane perpendicular to the sliding direction of the guide block 4. Figure 6 and Figure 7 In the embodiment, the description of the sensor array 123 and the like is omitted. Figure 6 and Figure 7As shown, a plurality of rolling elements (balls) 34 are arranged in the circulation path inside the guide block 4. The end caps 35 are components located at both ends of the guide block 4 in the x-axis direction and have a curved portion of the circulation path inside. It should be noted that a ball retainer may also be provided between each rolling element 34. In addition, only the rolling elements 34 are in contact with the guide rail 122, and the frame of the guide block 4 does not contact the guide rail 122. Moreover, when the guide block 4 slides, the rolling elements 34 circulate in the circulation path, which can significantly reduce the friction between the guide block 4 and the guide rail 122.

[0077] Furthermore, the circulation path includes a load region, where the rolling elements 34 are subjected to pressure from the guide rail 122 or the spacer 3, and a non-load region, where the rolling elements 34 are not subjected to pressure from the guide rail 122 or the spacer 3. Since the rolling elements 34 are in contact with the guide rail 122 or the spacer 3, the rolling elements 34 are not necessarily subjected to pressure from the guide rail 122, that is, they are not necessarily located in the load region. However, the rolling elements in the load region are always in contact with the guide rail 122 or the spacer 3. The load region and the non-load region have a range corresponding to the shapes of the guide rail 122, the spacer 3, and the guide block 4. From another perspective, the range of the load region and the non-load region can be changed depending on the position of the guide block 4 relative to the guide rail 122 and the spacer 3.

[0078] [Driver]

[0079] The multiple actuators 5 each control the power supplied to the coils 124 based on instructions from the controller 6. Furthermore, among the multiple actuators 5, the first actuator 5 (the actuator 5 associated with the end coil 124 of the gantry conveyor module 12) transmits information regarding the position or speed of the guide block 4 to the second actuator 5 (the actuator 5 associated with the end coil 124 of the splicing conveyor module 2). Here, the first actuator 5 generates information regarding the position or speed of the guide block 4 based on information received from the sensor 123b associated with the first actuator 5. For example, when the guide block 4 slides from the gantry conveyor module 12 to the adjacent splicing conveyor module 2, the first actuator 5 transmits this information to the second actuator 5.

[0080] Furthermore, a second driver 5 among the plurality of drivers 5 controls the power supplied to a coil 124, one of the one or more coils 124 included in the splicing conveyor module 2 adjacent to the on-stage conveyor module 12, that is, the coil 124 facing the end coil 124. Furthermore, the second driver 5 transmits information regarding the position or speed of the guide block 4 to the first driver 5. Here, the second driver 5 generates information regarding the position or speed of the guide block 4 based on information obtained from the sensor 123b associated with the second driver 5, and transmits this information to the first driver 5, for example, when the guide block 4 slides from the splicing conveyor module 2 to the adjacent on-stage conveyor module 12.

[0081] Furthermore, the first driver 5 and the second driver 5 may also transmit and receive information on the power value supplied to any coil 124 or other information used for calculating the power value. In one embodiment, LINK communication is used for communication between the first driver 5 and the second driver 5, and SYNC communication is used for communication between the controller 6 and each driver 5.

[0082] [Operation of the conveyor system]

[0083] In the conveying system 100, when the controller 6 controls the actuators 5, for example, the first actuator 5 supplies power to the coil 124 of the conveying module 12 on the platform at a specific timing, and the second actuator 5 supplies power to the coil 124 of the splicing conveying module 2 at a specific timing. This causes the guide block 4 to slide along the longitudinal direction of the guide rail 122.

[0084] Furthermore, when the guide block 4 moves between the stage conveyor module 12 and the splicing conveyor module 2, it also slides on the spacer 3. At this time, if there is no step between the surface of the guide rail 122 of the stage conveyor module 12 and the corresponding surface of the guide rail 122 of the splicing conveyor module 2, the spacer 3 will not move even if the guide block 4 slides on the spacer 3. Here, the step refers to the positional offset of adjacent guide rails 122 in the y-axis or z-axis directions.

[0085] On the other hand, when there are steps on the surfaces of the two guide rails 122 , the inclination of the spacer 3 changes within a certain range in an arbitrary direction as the guide block 4 slides.

[0086] Figure 8 This is an example of a cross-sectional view of the circulation path inside the guide pad 4 . Figure 8 The illustrated rolling element 34 corresponds to Figure 7 For example, if there is no step between the surface of the sliding first guide rail 122 and the side surface of the spacer 3 connected in front of it, and the surface of the second guide rail 122 connected in front of the spacer 3 has a step that protrudes laterally (for example, in the negative direction of the y-axis) relative to the surface of the spacer 3, the guide block 4 moves from the first guide rail 122 to the spacer 3 without moving the spacer 3. Figure 8 As shown in the cross-sectional view 81 of FIG, when the step between the second guide rail 122 is reached, first, the second guide rail 122 passes the side of the end cover 35 (positive direction of the y axis). Figure 8As shown in the cross-sectional view 82 of FIG, the rolling element 34 that circulates in the circulation path and is about to contact the second guide rail 122 collides with the step formed by the second guide rail 122. At this time, the front end of the guide block 4 is pressed in the direction away from the side of the guide rail 122 (negative direction of the y-axis) by the reaction force of the rolling element 34 applied to the step. In addition, along with this, the spacer 3 is Figure 8 The side surface opposite to the side surface shown in the figure is pressed by the rolling element 34 that contacts the side surface opposite to the guide block 4. Figure 8 As shown in the cross-sectional view 83 of FIG, the top end of the guide block 4 changes its orientation toward the negative direction of the y-axis together with the spacer 3, and the step between the side surface of the spacer 3 and the side surface of the second guide rail 122 in front of it becomes smaller. Figure 9 As shown, the guide block 4 can smoothly move from the spacer 3 to the guide rail 122. Figure 9 1 is an example of a top view of the guide rail 122 and the spacer 3. Figure 9 In the figure, the steps between the guide rails 122 are exaggeratedly enlarged for easy understanding.

[0087] Figure 9 The diagram shows that the inclination of the spacer 3 can be changed in the direction of the rotation axis about the z-axis. When the guide block 4 slides on the spacer 3 , the inclination of the spacer 3 changes, thereby alleviating the step in the y-axis direction between the guide rails 122 .

[0088] In addition, as mentioned earlier, Figure 5 The figure shows how the spacer 3 mitigates the step in the z-axis direction between the guide rails 122. Here, the inclination of the spacer 3 can be varied in the direction of rotation about the y-axis. Specifically, when external pressure is applied to the spacer 3, such as when the guide block 4 slides on the spacer 3, the inclination of the spacer 3 can be varied within a certain range in either the direction of rotation about the z-axis or the direction of rotation about the y-axis.

[0089] It should be noted that the inclination of the spacer 3 does not necessarily need to change when the guide block 4 slides on the spacer 3 .

[0090] [Effects of Conveyor Modules and Conveyor Systems]

[0091] As described above, according to the on-stage conveyor module 12 and the splicing conveyor module 2, a slight positional offset between the guide rails 122 can be tolerated, thereby reducing installation labor and constructing the conveyor system 100 without complicating the structure. According to the conveyor system 100, the impact on the guide block 4 when sliding between the on-stage conveyor module 12 and the splicing conveyor module 2 can be reduced.

[0092] [Example of movement when climbing over stairs]

[0093] Next, an example will be described of the operation of the guide block 4 when it climbs over the step between the guide rail 122 and the spacer 3. In this example, a configuration shown in the following conditions is used.

[0094] Radial load: 3000 [N]

[0095] Step (horizontal): 0.1 [mm]

[0096] Step (vertical): 0.1 [mm]

[0097] Here, "radial load" refers to the load applied to the guide pad 4 from above (in the negative z-axis direction). "Step (horizontal)" refers to the positional offset between the guide rail 122 and the spacer 3 in the y-direction, and "step (vertical)" refers to the positional offset between the guide rail 122 and the spacer 3 in the z-direction. A gap (clearance) of 0.1 mm is assumed between the guide rail 122 and the spacer body 31.

[0098] Figure 10 This is an example of a top view of a conventional conveying system in which the guide rail 122 is connected without the spacer 3, and the conveying system 100 according to this embodiment. Figure 10 and the following Figure 11 and Figure 12 In FIG. 1 , the black loaded rolling element 34 a represents the rolling element 34 located in the loaded region, and the white unloaded rolling element 34 b represents the rolling element 34 located in the unloaded region.

[0099] In conventional conveyor systems, large steps between guide rails cause rolling elements to collide with these steps, placing a heavy load on the rolling elements and dramatically increasing sliding resistance, preventing smooth movement. Conveyor system 100 of this embodiment, on the other hand, connects guide rails 122 via spacers 3, creating smooth steps and reducing the load on rolling elements 34. This reduces the impact of guide blocks 4 sliding between guide rails 122, thus minimizing wear and damage to guide rails 122 and guide blocks 4.

[0100] Figure 11 This is an example of a cross-sectional view of the guide block 4 on a surface parallel to the sliding direction of the guide block 4. In addition, the spacer 3 located between the guide rails 122 is omitted from the illustration. On the spacer 3, except for the step portion between the spacer 3 and the guide rail 122, the rolling element 34 is not subjected to pressure. Figure 11 In the figure, the load rolling element 34a of the circulation path located at the front side in the y-axis direction and the load rolling element 34a of the circulation path located at the depth side in the y-axis direction are shown. Figure 10 As shown in the top view of , they are respectively located near the diagonal direction of the guide block 4.

[0101] That is Figure 11 In a single circulation path, two loaded rolling elements 34a are present at the step position. By employing a structure in which the number of loaded rolling elements 34a is reduced, at least temporarily, when the guide block 4 slides on the spacer 3, compared to when the entire guide block 4 slides on a single guide rail 122, the load and sliding resistance applied to the guide rail 122 and rolling elements 34 can be reduced.

[0102] Figure 12 An example of a cross-sectional view of the guide pad 4 is shown in which the number of the loaded rolling elements 34a is changed from 3 to 1 when crossing a step in a single circulation path. Figure 13 This is a graph showing the results of simulations performed for each number of loaded rolling elements 34 a when the maximum surface pressure applied to each loaded rolling element 34 a is exceeded. Figure 13 The “outside of the joint portion” here refers to the surface pressure when the entire guide block 4 slides on the single guide rail 122 .

[0103] like Figure 13 As shown, regardless of the number of loaded rolling elements 34a, the surface pressure is higher than that outside the splicing portion. This means that when the guide block 4 passes over the step, a high surface pressure is temporarily applied to the rolling element 34. Regardless of the radial load of 0N, 1000N, or 3000N, the surface pressure reaches its lowest value when the number of loaded rolling elements 34a in a single circulation path is reduced to two, at least temporarily, when the guide block 4 slides on the spacer 3. This means that by adopting a structure in which the number of loaded rolling elements 34a is reduced to two when the guide block 4 passes over the step, the load applied to the guide rail 122 and the rolling element 34 can be minimized.

[0104] Figure 14 : is an example of a cross-sectional view of the guide pad 4 on a surface parallel to the sliding direction of the guide pad 4. Figure 14 The distance between the center of the guide block 4 in the x-axis direction and the nearest load rolling element 34a is shown for each number of load rolling elements (load balls) 34 when the guide block 4 passes over the step. Figure 15 Graph 1 is a graph showing the relationship between the guide pad stroke at each number of the loaded rolling elements 34a and the sliding resistance generated in the guide pad 4. The smaller the sliding resistance value, the smoother the guide pad 4 can slide.

[0105] Figure 15 The sliding resistance values ​​shown in the graph are values ​​when no workpiece is placed on the guide block 4. Figure 15As shown in the figure, the sliding resistance value exceeds the allowable value when the number of loaded rolling elements 34a is 4, and the sliding resistance becomes particularly small when the number is 0 to 2. In this way, the sliding resistance value changes by changing the number of loaded rolling elements 34a. There is a tendency that the sliding resistance value when crossing the step becomes larger as the number of loaded rolling elements 34a increases. Figure 15 The results shown in the chart are Figure 13 When the results shown in the graph are taken into consideration together, it can be said that the structure in which the number of load rolling elements 34a in a single circulation path is reduced to 2 when the guide block 4 passes over the step has a great advantage in that the load applied to the guide rail 122 and the rolling element 34 and the sliding resistance are small.

[0106] [Variation]

[0107] The conveying system 100 may not include the gantry 11. For example, the conveying module 12 on the gantry may be directly disposed on the floor surface.

[0108] In addition, a part or all of the stands 11 may be in contact with adjacent stands 11 .

[0109] The conveying system 100 may also be a moving coil type conveying system. That is, the on-stage conveying module 12 and the splicing conveying module 2 may include magnets, and the guide block 4 may include a coil associated with the actuator 5 .

[0110] Alternatively, a structure may be employed in which two or more rows of rack conveying modules 12 and splicing conveying modules 2 are arranged on racks 11 arranged in one row. In this structure, the conveying modules are also connected by spacers 3 .

[0111] Furthermore, the guide rails 122 of the on-stage conveyor module 12 and the splicing conveyor module 2, or a portion thereof, and the coils 124 attached to the guide rails 122, are not necessarily limited to being linear in shape and may also be curved. Furthermore, the on-stage conveyor module 12 and the splicing conveyor module 2 may also form a looped conveying path.

[0112] In addition, a part or all of the on-rack conveyance modules 12 and the adjacent on-rack conveyance modules 12 do not necessarily need to be connected via the splicing conveyance module 2 , and may be directly connected via the spacer 3 .

[0113] Figure 18 This is an example of a schematic diagram of a transport system that connects the equipment modules 1 by connecting the transport modules 12 on the rack. Figure 18 The transport modules 12 on the respective platforms are connected via a partition 3b which can be divided into a plurality of parts, but they may be connected via a partition 3 or a partition 3a described later. Details of the partition 3b will be described later.

[0114] exist Figure 18 In the illustrated structure, a portion of the on-stage transport module 12 protrudes horizontally from the stage 11 supporting the on-stage transport module 12 , and the equipment modules 1 are connected via the protruding on-stage transport module 12 .

[0115] In addition, Figure 18 In the illustrated configuration, both of the connected on-rack conveyor modules 12 protrude horizontally from the respective racks 11. However, a configuration may also be employed in which one on-rack conveyor module 12 protrudes from the rack 11, while the other on-rack conveyor module 12 is positioned within the edge of the rack 11 and does not protrude. It should be noted that a conveyor module that protrudes horizontally from a rack 11 and bridges to an adjacent rack 11 can be referred to as a splicing conveyor module 2. Therefore, it is possible that a rack 11 does not support an on-rack conveyor module 12 but only supports a splicing conveyor module 2.

[0116] In addition, you can also Figure 18 The transport modules 12 on each platform are connected to the splicing transport modules 2 that are not supported by any platform 11. From another perspective, the splicing transport modules 2 may include splicing transport modules supported by multiple platforms 11 and splicing transport modules that are not supported by any platform 11.

[0117] As explained so far, Figure 1 and Figure 18 Each of the equipment modules 1 shown includes a platform 11 that supports one or more conveyor modules, and the layout of the platform 11 can be rearranged. Furthermore, in each of the equipment modules 1, the platform 11 supports each conveyor module so that at least a portion of any conveyor module protrudes horizontally from the platform 11. The equipment modules 1 are connected to adjacent equipment modules 1 via the conveyor modules that protrude horizontally from the platform 11.

[0118] (Modification 1 of Spacer)

[0119] Next, a modified example of the structure of the spacer will be described. Note that, for the sake of convenience, members having the same functions as those already described are denoted by the same reference numerals, and their description will not be repeated. Figure 16 1 is an example of a perspective view showing the spacer 3a and the guide rail 122 according to this modification. Figure 16 As shown, the spacer 3a includes a spacer body (frame portion) 31a and an impregnation portion 38. In one embodiment, the spacer 3a is made of resin, wherein the impregnation portion 38 is composed of a sintered resin and can be impregnated with a lubricant. It should be noted that the spacer 3a does not necessarily need to be made of resin; the impregnation portion 38 can also be made of other rigid materials that can be impregnated with a lubricant.

[0120] The impregnation portion 38 is located at the contact surface with the rolling element 34 inside the guide block 4 when the guide block 4 slides on the separator 3a. When the rolling element 34 contacts the impregnation portion 38 impregnated with lubricant, the lubricant can be supplied to the surface of the rolling element 34.

[0121] Furthermore, the spacer 3a has a sleeve structure. With the spacer 3a mounted between adjacent guide rails 122, only the impregnated portion 38 can be attached and detached while the spacer body 31a remains mounted. Broadly speaking, only a portion of the spacer 3a, including the impregnated portion 38, can be attached and detached. When impregnating the impregnated portion 38 with lubricant, it is not necessary to remove the impregnated portion 38 or stop the motion guide device.

[0122] The structure of the spacer 3a allows constant lubricant supply to the guide block 4. Furthermore, there is no need to extend the entire length of the sliding portion including the guide block 4, nor is there any need to install another member that slides on the guide rail 122 and supplies lubricant.

[0123] Note that the spacer 3 a may have a structure in which the spacer 3 a has a recessed portion, and the guide rail 122 has a convex portion as the engaging portion 122 a .

[0124] (Modification 2 of Spacer)

[0125] The spacer may be configured to be divisible into a plurality of parts in the sliding direction of the guide block 4. The same applies to the case where the impregnation portion 38 is provided as in the above-mentioned spacer 3a.

[0126] Figure 18 The illustrated spacer 3b is an example of a spacer that can be divided into component 3b1 and component 3b2. From another perspective, the spacer 3b is composed of multiple components that can be divided in the sliding direction of the guide block 4. Furthermore, the spacer 3b can be divided into three or more components, and the shape of the joints that integrate the components is not limited. Depending on the structure of the spacer 3b, for example, each component constituting the spacer 3b can be associated with any single guide rail 122.

[0127] <Implementation of the simulation device>

[0128] Next, an embodiment of the simulation device 7 according to another aspect of the present disclosure will be described in detail.

[0129] Figure 17 This is an example of a functional block diagram of the simulation device 7. The simulation device 7 is a device that simulates the arrangement and connection of each component of the conveying system 100. The simulation device 7 is implemented as a computer such as a PC or a portable terminal. Figure 17As shown, the simulation device 7 includes an input unit 71 , a storage unit 72 , a control unit 73 , and an output unit 74 .

[0130] (Input section)

[0131] The input unit 71 is an interface for inputting data into the simulation device 7 and is implemented by a keyboard, mouse, or buttons. For example, the input unit 71 receives input of simulation conditions. It should be noted that the input unit 71 can be composed of the aforementioned interface, a communication module that receives simulation conditions from another device, or a driver that reads simulation conditions from a medium.

[0132] (Storage Department)

[0133] The storage unit 72 is a device that stores various information and stores the program for simulation described below. The program is used to cause the computer to execute the processing of each step described below. It should be noted that the program can also be recorded on one or more computer-readable recording media rather than being temporary. In this case, the recording medium may or may not be included in the simulation device 7. In the latter case, the program can also be supplied to the simulation device 7 via any transmission medium, whether wired or wireless.

[0134] (Control Department)

[0135] The control unit 73 is a control device that coordinates the entire simulation device 7, and is implemented as a processor, for example. The control unit 73 executes the following equipment module configuration steps and splicing and conveying module configuration steps according to the program stored in the storage unit 72. In addition, the control unit 73 can also simulate the equipment module configuration steps and the splicing and conveying module configuration steps, as well as at least any one of the simulations of a part included in these steps, in a two-dimensional or three-dimensional virtual space. In other words, the program can also be a program for performing at least any one of the simulations in a virtual space. In addition, the virtual space can also be a virtual space obtained by simulating the interior of a facility such as a factory where the conveying system 100 is installed.

[0136] (Device module configuration steps)

[0137] In the equipment module placement step, the control unit 73 simulates the placement of the equipment module 1. It should be noted that in this step, the control unit 73 may also simulate the placement of the transport module 12 on the rack, after removing the rack 11 from the equipment module 1. The processing in this step can also be referred to as simulating the placement of the transport module 12 on the rack or the placement of the guide rails 122.

[0138] (Configuration steps for splicing conveyor modules)

[0139] During the splicing and conveyor module placement step, the control unit 73 simulates connecting the equipment modules 1 via the splicing and conveyor module 2. Furthermore, the control unit 73 simulates connecting the guide rails 122 of the conveyor modules in the longitudinal direction via the spacers 3. In this step, the aforementioned spacers 3a or 3b can also be used in a modified embodiment. Alternatively, instead of the splicing and conveyor module 2, a platform-mounted conveyor module 12 that protrudes horizontally from the platform can be used.

[0140] (Output section)

[0141] Output unit 74 outputs the simulation results under the control of control unit 73. In one embodiment, output unit 74 comprises a display device. Specifically, output unit 74 displays the simulation results using dynamic images, etc. Thus, by referring to the display on output unit 74, the operator who installs conveyor system 100 can construct conveyor system 100 in which each conveyor module is optimally positioned.

[0142] It should be noted that the simulation device 7 may simulate the sliding of one or more guide blocks 4, and the control unit 73 may send the simulation result to the controller 6 as an instruction to actually execute the conveying system 100. In addition, the simulation device 7 may simulate the arrangement of multiple conveying systems 100.

[0143] <Additional Notes>

[0144] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the technical claims. Embodiments obtained by appropriately combining technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[0145] For example, at least any of the steps executed by the simulation device 7 described in the above embodiment may be implemented using a logic circuit. For example, an integrated circuit forming a logic circuit that functions as each of the above control blocks is also within the scope of the present invention. Furthermore, the functions of each of the above control blocks may be implemented using, for example, a quantum computer.

[0146] Furthermore, at least any of the steps performed by the simulation device 7 described in the above embodiment may also be performed by AI (Artificial Intelligence). In this case, the AI ​​may be operated using the control device described above or another device (e.g., an edge computer or cloud server).

[0147] Description of Reference Numerals

[0148] 1 Equipment module

[0149] 2 Splicing conveyor module (second conveyor module)

[0150] 3, 3a, 3b spacers

[0151] 4 boot blocks

[0152] 5 Drivers (First Driver, Second Driver)

[0153] 6 Controller

[0154] 7 Simulation device

[0155] 11 racks

[0156] 12 Platform conveying module (first conveying module)

[0157] 31, 31a: spacer body

[0158] 32 convex portion (engaged portion)

[0159] 34 rolling elements

[0160] 34a Loaded rolling element

[0161] 34b Unloaded rolling element

[0162] 35 end cap

[0163] 38 impregnation part

[0164] 71 Input

[0165] 72 Storage

[0166] 73 Control Department

[0167] 74 Output

[0168] 100 Conveyor System

[0169] 121 Subject

[0170] 121a Taiwan Department

[0171] 121b Fixed part

[0172] 122 guide rails

[0173] 122a Recessed part (engagement part)

[0174] 123 sensor array

[0175] 123a Supporting member

[0176] 123b sensor

[0177] 124 Coil (end coil).

Claims

1. A device module comprising a rack, the rack supporting one or more transport modules, wherein the rack can be rearranged, wherein: The platform supports each conveyor module so that at least a portion of any conveyor module protrudes from the platform in a horizontal direction. The equipment modules are connected to adjacent equipment modules via a conveying module that protrudes horizontally from the platform.

2. The device module according to claim 1, characterized in that The equipment module is an equipment module including the platform and a first conveyor module supported by the single platform. The equipment module is connected to the adjacent equipment module via a second conveyance module, and the second conveyance module is provided at a position bridging between the first conveyance module and a first conveyance module included in the adjacent equipment module.

3. The device module according to claim 2, characterized in that The first conveyor module and the second conveyor module are connected via a spacer that is attachable and detachable in a state where the arrangement of the conveyor modules is fixed.

4. The device module according to claim 3, characterized in that In the spacer, the first surface of the spacer is set to be in a direction from the end of the first surface of the guide rail of the first conveying module to the end of the first surface of the guide rail of the second conveying module, and the second surface of the spacer is set to be in a direction from the end of the second surface of the guide rail of the first conveying module to the end of the second surface of the guide rail of the second conveying module. The first surface and the second surface of each of the spacer, the guide rail included in the first conveyance module, and the guide rail included in the second conveyance module are surfaces facing each other in each component.

5. The device module according to claim 3 or 4, characterized in that: In a state where the spacer is installed between the first conveying module and the second conveying module, when a guide block slides on the spacer, an inclination of the spacer changes within a certain range in any direction.

6. The spacer according to claim 3 or 4, characterized in that The spacer is configured to include a plurality of members that can be divided in the sliding direction of the guide block.

7. The equipment module according to claim 2 or 3, characterized in that: The first conveying module and the second conveying module are moving magnetic conveying modules, The first conveying module and the second conveying module each include a guide rail, one or more coils attached to the guide rail, and one or more sensors for reading scales of a guide block sliding on the guide rail. Among the coils included in the first transport module, an end coil facing the second transport module is associated with a first driver for controlling power supplied to the end coil. Among the coils included in the second transport module, an end coil facing the first transport module is associated with a second driver for controlling power supplied to the end coil. Information on the position or speed of the guide block is transmitted from the first driver to the second driver, or from the second driver to the first driver.

8. The equipment module according to claim 1 or 2, characterized in that: The gantry is provided with a device for performing predetermined processing or measurement on the workpiece conveyed by each conveying module.

9. A conveying module that connects equipment modules to each other, wherein the equipment modules include: a platform whose configuration can be rearranged; and a conveying module on the platform that is supported by a single platform, characterized in that: The transport module is installed at a position that bridges the transport modules on the platforms provided in the equipment modules.

10. A program, wherein The program is used to cause a computer to execute: a first step of simulating the configuration of the device module of claim 1; and A second step is performed to simulate connecting the equipment modules via a conveyor module protruding horizontally from the platform.

Images