Instruction unit and high lift truck system

Abstract

The teaching unit has a first unit and a second unit which is supported by the first unit so as to be separable, the first unit has a main body portion and one of a detected portion and a detection portion which is mounted to the main body portion, the second unit has the other of the detected portion and the detection portion, when the second unit is placed to the transfer portion, the second unit is positioned relative to the transfer portion and separated from the first unit, the detection portion detects the detected portion, thereby detecting the position deviation of the second unit relative to the first unit in the rotation direction and the horizontal direction which are centered on the vertical axis.

Description

Technical Field

[0001] This disclosure relates to teaching units and overhead conveyor systems. Background Technology

[0002] As a conventional overhead conveyor system, it is known to have a system comprising an overhead conveyor for transporting objects and a teaching unit, which is used to teach the object being transported when it is moved from the overhead conveyor toward a transfer section where the object is placed. The teaching unit described in Patent Document 1 comprises a unit body and a teaching plate. In this teaching unit, when the teaching plate is supported by the unit body, the teaching plate is positioned relative to the unit body in both the front-back and left-right directions.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-187563 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In the teaching unit of Patent Document 1, when the teaching pendant separates from the unit body, the unit body is allowed to shift relative to the teaching pendant in a specified direction. However, when the unit body shifts relative to the teaching pendant in other directions, the position of the unit body is restricted by the teaching pendant. Therefore, it may be impossible to automatically detect the positional shift of the teaching pendant relative to the unit body in the rotational direction centered on the vertical axis and in the horizontal direction with good accuracy.

[0008] The purpose of this disclosure is to provide a teaching unit and an overhead transport system that can automatically detect with good accuracy the positional offset of the first unit relative to the second unit in the rotational direction centered on the vertical axis and in the horizontal direction.

[0009] Technical means to solve the problem

[0010] [1] A teaching unit according to one aspect of the present disclosure is used for teaching when a transport vehicle is used to transfer a transported object toward a transfer section where the object is placed. The teaching unit includes: a first unit that is flexibly held by the transport vehicle and detachably supported by the first unit. The first unit has: a main body including a base plate and one of a detection part and a detection part mounted on the main body. At least one through hole is provided in the base plate. The second unit has: a support provided by the base plate in or near the through hole. The system includes at least one supported portion, a contact plate portion located below the base plate portion and containing a contact surface that contacts the transfer portion, at least one columnar portion for connecting the supported portion and the contact plate portion and movable up and down within a through hole, and a detection portion and the other of the detection portion. When the second unit is placed on the transfer portion, the second unit is positioned relative to the transfer portion and separated from the first unit. The detection portion detects the positional offset of the second unit relative to the first unit in the rotational direction centered on the vertical axis and in the horizontal direction by detecting the detection portion.

[0011] According to the teaching unit described above [1], when the second unit separates from the first unit, the support of the base plate portion to the supported portion is released and the columnar portion is inserted into the through hole, allowing a certain degree of positional displacement of the supported portion relative to the through hole in the horizontal direction. Therefore, in the teaching unit, positional displacement of the first unit relative to the second unit is allowed in both the rotational direction centered on the vertical axis and the horizontal direction. As a result, the positional displacement of the first unit relative to the second unit in both the rotational direction centered on the vertical axis and the horizontal direction can be detected with good accuracy. Thus, the positional displacement of the first unit relative to the second unit in both the rotational direction and the horizontal direction can be automatically detected with good accuracy.

[0012] [2] In the teaching unit described in [1] above, it can also be configured such that when the first unit supports the second unit, the supported part is supported by the base plate near the through hole, thereby guiding the second unit to a reference position relative to the first unit in both the rotational and horizontal directions centered on the vertical axis. In this case, when the second unit is supported by the first unit, the second unit is guided toward the reference position relative to the first unit in both the rotational and horizontal directions centered on the vertical axis. As a result, the overhead conveyor can automatically retract the teaching unit. Consequently, the overhead conveyor can automatically repeat the teaching process.

[0013] [3] In the teaching unit described in [2] above, a plurality of through holes may be provided in the base plate portion, and the second unit may have: a plurality of supported portions supported by the base plate portion at predetermined positions in the horizontal direction, and a plurality of columnar portions that can move up and down in each of the plurality of through holes. In this case, when the second unit is supported by the first unit, the plurality of supported portions of the second unit are automatically guided in the horizontal direction toward predetermined positions in the base plate portion of the main body portion of the first unit. Thus, the second unit can be automatically guided toward a reference position relative to the first unit in both the rotational direction centered on the vertical axis and the horizontal direction.

[0014] [4] In the teaching unit described in [3] above, each of the plurality of through holes may be provided with a tapered portion such that the inner diameter of the through hole decreases as it approaches the lower part of the base plate, and the plurality of supported portions may be supported by the tapered portion in each of the plurality of through holes. In this case, when the first unit rises and the second unit is supported by the first unit, the second unit can be automatically and stably guided toward the reference position relative to the first unit in the horizontal direction.

[0015] [5] In any of the teaching units described in [1] to [4] above, a plurality of inclined surfaces with different orientations can be provided on the inner surface of the through hole, which are guided to a predetermined position by the support in the horizontal direction. In this case, when the first unit rises and the second unit is supported by the first unit, the second unit can be automatically guided to a predetermined position relative to the first unit in the rotational direction centered on the vertical axis and in the horizontal direction through the base plate having one or more through holes.

[0016] [6] In any of the teaching units described in [1] to [5] above, the first unit may have a detection part, and the second unit may have a detection part. In this case, the weight of the second unit is increased. Thus, when the first unit rises and the second unit is supported by the first unit, the second unit can be stably and automatically guided to a predetermined position relative to the first unit in both the rotational direction centered on the vertical axis and the horizontal direction.

[0017] [7] In the teaching unit described in [6] above, the second unit may further include a battery for supplying power to the detection unit. In this case, the weight of the second unit is further increased. Thus, when the first unit rises and the second unit is supported by the first unit, the second unit can be more easily guided to a predetermined position relative to the first unit in both the rotational and horizontal directions centered on the vertical axis. Furthermore, compared to the case where no battery is provided in the second unit, it is not necessary to electrically connect the second unit and other components to supply power to the detection unit of the second unit. As a result, the teaching unit can be implemented with a simpler configuration.

[0018] [8] One aspect of the overhead conveyor system of this disclosure may include: an overhead conveyor for transporting the transported object, and any one of the teaching units described in [1] to [7] above. In this case, the positional deviation in each direction during the transfer action of the overhead conveyor can be automatically detected with good accuracy.

[0019] [9] One aspect of the overhead conveyor system of this disclosure may include: an overhead conveyor for transporting objects, the teaching unit described above [7], and a storage rack for storing the teaching unit, the storage rack being provided with a charging mechanism for charging the battery. In this case, the battery can be charged while storing the teaching unit. As a result, teaching based on the overhead conveyor can be performed more efficiently.

[0020] Invention Effects

[0021] According to this disclosure, the positional offset of the second unit relative to the first unit in the rotational direction centered on the vertical axis and in the horizontal direction can be easily and automatically detected. Attached Figure Description

[0022] Figure 1 This is a side view showing an embodiment of an overhead transport vehicle, a transfer unit, and a teaching unit.

[0023] Figure 2 This is a block diagram representing the functional structure of an overhead conveyor system.

[0024] Figure 3 This is a cross-sectional view showing a teaching unit according to one embodiment.

[0025] Figure 4 (a) means Figure 3 A diagram of the lower surface of the top plate of unit 1. Figure 4 (b) means Figure 3 A diagram of the upper surface of the base plate of Unit 1.

[0026] Figure 5 (a) means Figure 3 A diagram of the lower surface of the contact plate portion of the second unit. Figure 5 (b) indicates along Figure 3 A cross-sectional view of the contact plate portion and multiple connecting portions of the second unit of the VV line. Figure 5 (c) represents Figure 3 The diagram shows the upper plate and detection section of Unit 2.

[0027] Figure 6 (a) to (c) are diagrams used to illustrate the teaching using the teaching unit.

[0028] Figure 7 It means Figure 1 A side view of the storage shed of the teaching unit in the text.

[0029] Figure 8 This is a cross-sectional view of the teaching unit representing the first variation.

[0030] Figure 9 This is a cross-sectional view of the teaching unit representing the second variation.

[0031] Figure 10 It means Figure 9 The diagram shows the upper part, the part to be tested, and the testing part of Unit 2 of the teaching unit.

[0032] Figure 11 This is a cross-sectional view showing the calibration table used for calibration of the testing department. Detailed Implementation

[0033] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Furthermore, in the description of the drawings, the same reference numerals are used to label the same elements, and repeated descriptions are omitted.

[0034] Reference Figure 1 and Figure 2 The above description pertains to the overhead conveyor system 100. The overhead conveyor system 100 includes: multiple overhead conveyor vehicles 1, a teaching unit 20, and an area controller 110 (see reference). Figure 2 ).

[0035] like Figure 1 As shown, in one embodiment, a overhead transport vehicle 1 travels along a track R laid near the ceiling of a cleanroom for manufacturing semiconductor components (devices). The overhead transport vehicle 1 transports containers (transported items) 200, such as FOUPs (Front Opening Unified Pods) containing a plurality of semiconductor wafers or reticle boxes containing photomasks. The overhead transport vehicle 1 transfers the containers 200 to loading ports 300 (transfer units) of a processing device used to perform various processes on the semiconductor wafers. A flange 223 is formed on the container 200 and held by a pair of clamps 12, 12 of the overhead transport vehicle 1.

[0036] The overhead conveyor 1 includes: a frame unit 2, a traveling unit 3, a traversing unit 4, a rotating unit 5, a lifting drive unit 6, a holding unit 7, and a conveyor controller 8. The frame unit 2 includes: a central frame 15, a front frame 16, and a rear frame 17. The front frame 16 extends downward from the front end of the central frame 15 (the front side in the traveling direction of the overhead conveyor 1). The rear frame 17 extends downward from the rear end of the central frame 15 (the rear side in the traveling direction of the overhead conveyor 1).

[0037] The traveling unit 3 is positioned above the central frame 15. The traveling unit 3 receives power non-contactly from a high-frequency current line laid along the extension direction (X direction) of the track R and travels along the track R. The lateral movement unit 4 is positioned below the central frame 15. The lateral movement unit 4 moves the rotating unit 5, the lifting drive unit 6, and the holding unit 7 in a lateral direction (Y direction) orthogonal to the traveling direction. The rotating unit 5 is positioned below the lateral movement unit 4. The rotating unit 5 causes the lifting drive unit 6 and the holding unit 7 to rotate in the horizontal plane. The lifting drive unit 6 is positioned below the rotating unit 5. The lifting drive unit 6 causes the holding unit 7 to rise and fall. The holding unit 7 is positioned below the lifting drive unit 6. The holding unit 7 is suspended by the lifting drive unit 6 using a plurality of steel cables B.

[0038] The holding unit 7 has a base 11 and a pair of clamps 12, 12. The pair of clamps 12, 12 are supported by the base 11 in a manner that allows them to open and close along the X direction. The pair of clamps 12, 12 are opened and closed by a drive motor (not shown) and a linkage mechanism (not shown). In this embodiment, the height position of the holding unit 7 is adjusted such that when the pair of clamps 12, 12 are in the open state, the holding surface of the clamp 12 is lower than the lower surface of the flange 223. Moreover, in this state, the pair of clamps 12, 12 are closed, and the holding surface of the clamps 12 moves forward below the lower surface of the flange 223. In this state, the lifting drive unit 6 is raised, thereby holding (gripping) the flange 223 by the pair of clamps 12, 12, and holding the container 200.

[0039] The transport vehicle controller 8 is located in the central frame 15. The transport vehicle controller 8 is an electronic control unit composed of a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The transport vehicle controller 8 controls all parts of the overhead transport vehicle 1.

[0040] In this embodiment, the transport vehicle controller 8 controls the operation of the overhead transport vehicle 1 according to preset transfer conditions, thereby transferring the container 200 to the loading port 300. The transfer conditions are control parameters used to transfer the container 200 to the loading port 300. The transfer conditions may also include: information relating to the positions of the pair of grippers 12, 12 in the X, Y, and Z directions when transferring the container 200 to the loading port 300, and information relating to the position of the pair of grippers 12, 12 in the rotational direction within the horizontal plane, i.e., the θ direction position.

[0041] More specifically, the transfer conditions may also include: the drive amount (stop position) of the traveling unit 3, the drive amount of the traversing unit 4, the drive amount of the rotating unit 5, and the drive amount of the lifting drive unit 6 when transferring the container 200 to the loading port 300. The transfer conditions are stored in the storage unit (not shown) of the transport vehicle controller 8. Furthermore, the transport vehicle controller 8 also controls the teaching actions when the teaching unit 20, which will be detailed later, is installed.

[0042] Figure 2 The area controller 110 shown is an electronic control unit composed of a processor such as a CPU, ROM, and RAM. The area controller 110 can be configured, for example, as software that loads a program stored in ROM into RAM and executes it via a CPU. The area controller 110 can also be configured as hardware based on electronic circuits, etc.

[0043] The area controller 110 communicates with and controls a plurality of overhead conveyor vehicles 1. That is, the area controller 110 causes the plurality of overhead conveyor vehicles 1 to execute various instructions. For example, the area controller 110 causes the plurality of overhead conveyor vehicles 1 to execute a transport instruction.

[0044] In the overhead conveyor system 100 described above, teaching is performed when the overhead conveyor 1 begins to move the container 200, or periodically for maintenance. Teaching refers to: when the container 200 is moved according to preset transfer conditions, determining how much the transfer position of the container 200 deviates from the target position, and storing the actions that the overhead conveyor 1 should perform to eliminate the deviation from the target position. Examples of actions to be performed include: the amount of correction to the transfer conditions (information related to teaching), namely, the drive amount of the traveling unit 3, the drive amount of the traversing unit 4, the drive amount of the rotating unit 5, and the drive amount of the lifting drive unit 6.

[0045] Figure 3 This is a cross-sectional view showing the teaching unit 20 of this embodiment. The teaching unit 20 is used for teaching the transfer of container 200 to the loading port 300 of the container 200 using the overhead conveyor 1. Figure 3 As shown, the teaching unit 20 includes a first unit 30 and a second unit 40. The X direction is the extension direction of the track R, i.e., the travel direction of the overhead conveyor 1. Furthermore, the Y direction is a transverse direction orthogonal to the travel direction. In the following description, the loading port 300 (transfer section) is arranged along the X direction (see...). Figure 1The teaching pendant 20 is used as a reference in its operational state. However, since the orientation of the loading port 300 is different, the teaching pendant 20 may be rotated horizontally. Therefore, the X direction can also be referred to as "a certain direction in the horizontal direction" and the Y direction can be referred to as "another direction in the horizontal direction that is perpendicular to a certain direction". That is, the Y direction can also be referred to as "a direction that is perpendicular to the X direction and the Z direction (vertical direction)".

[0046] The first unit 30 is held vertically and flexibly by the holding unit 7 of the overhead transport vehicle 1. The first unit 30 has a main body 31 and a detection part 32. The main body 31 includes a flange 23. The flange 23 is held vertically and flexibly by clamps 12, 12 (see reference 12) mounted on the holding unit 7 of the overhead transport vehicle 1. Figure 1 and Figure 2 The flange 23 is positioned at the upper center of the main body 31.

[0047] The main body 31 also includes a top plate 33, a bottom plate 34, and two side wall portions 35. The top plate 33 and the bottom plate 34 are separated in the Z direction and face each other. The top plate 33 extends below the flange 23 along the X and Y directions. The bottom plate 34 extends below the top plate 33 along the X and Y directions. The two side wall portions 35 are separated in the X direction and face each other. One side wall portion 35 extends from one end of the top plate portion 33 in the X direction to the bottom plate portion 34 along the Z direction. The other side wall portion 35 extends from the other end of the top plate portion 33 in the X direction to the bottom plate portion 34 along the Z direction. The main body 31 may also have two side wall portions separated in the Y direction and facing each other.

[0048] The part to be tested 32 is installed on the main body 31. The part to be tested 32 is tested by the detection part 44 (described later) of the second unit 40. Figure 4 Figure (a) shows the lower surface 33a of the top plate portion 33. The detection portion 32 includes a detection plate 32a disposed on the lower surface 33a and a mark 32b disposed on the detection plate 32a. The mark 32b is disposed at the center of the detection plate 32a. The detection plate 32a functions as the detection surface of the detection portion 32 (described in detail later).

[0049] At least one through hole 36 is provided in the base plate portion 34. The through hole 36 extends through the base plate portion 34 along the plate thickness direction, i.e., the Z direction. Figure 4(b) is a diagram showing the upper surface 34a of the base plate portion 34. In this embodiment, the base plate portion 34 is provided with a plurality of through holes 36. For example, the plurality of through holes 36 includes three through holes 36 arranged at the apex of a triangle in plan view. The through holes 36 have an upper opening 36a and a lower opening 36b. In plan view, the upper opening 36a includes the lower opening 36b inside. The inner diameter D2 of the lower opening 36b is larger than the outer diameter of the columnar portion 43b described later, and is larger than the outer diameter of the columnar portion 43b by a predetermined tolerance. The inner diameter D2 of the lower opening 36b is larger than the width W of the recess described later by the outer diameter of the columnar portion 43b described later. Furthermore, the opening D1 of the upper opening 36a and the inner diameter D2 of the lower opening 36b are set according to the tolerance.

[0050] Each of the plurality of through holes 36 is provided with a tapered portion 36c. The tapered portion 36c is provided such that the inner diameter of the through hole 36 decreases as it approaches the lower part of the base plate 34. For example, the tapered portion 36c connects the upper opening 36a and the lower opening 36b. The tapered portion 36c is a frustum-shaped cone that widens towards the upper part of the base plate 34.

[0051] like Figure 3 As shown, the second unit 40 is detachably supported by the first unit 30. The second unit 40 includes: an upper plate portion 41, a contact plate portion 42, at least one connecting portion 43, and a detection portion 44. The upper plate portion 41 and the contact plate portion 42 are separated and opposite to each other in the Z direction. The upper plate portion 41 and the contact plate portion 42 extend along the X and Y directions. The upper plate portion 41 is located on the upper surface 34a of the bottom plate portion 34. The contact plate portion 42 is located below the bottom plate portion 34.

[0052] The contact plate portion 42 includes an upper surface 42a and a lower surface 42b (contact surface). Figure 5 Figure (a) shows the lower surface 42b of the contact plate portion 42 of the second unit 40 of the teaching unit 20. Figure 5 As shown in (a), a recess 42c corresponding to the positioning pin 301 of the loading port 300 is provided on the lower surface 42b. The recess 42c is formed, for example, by two inclined surfaces, and has a V-shaped cross-section. The width W of the recess 42c is, for example, 60 mm. The surfaces of the two inclined surfaces are made of a material with good sliding properties. For example, three recesses 42c are provided on the lower surface 42b. When the second unit 40 is transferred (placed) to the loading port 300, the three positioning pins 301 are received in the three recesses 42c, thereby positioning the second unit 40 relative to the loading port 300.

[0053] At least one connecting part 43 is inserted through the through hole 36 of the bottom plate part 34 of the main body part 31 of the first unit 30, thereby connecting the upper plate part 41 and the contact plate part 42. Figure 5 (b) indicates along Figure 3A cross-sectional view of the contact plate portion 42 and the plurality of connecting portions 43 of the VV line. (See attached image.) Figure 5 As shown in (b), at least one connecting part 43 has three connecting parts 43 arranged at the vertex position of the triangle in top view.

[0054] The connecting portion 43 has a supported portion 43a and a columnar portion 43b. The supported portion 43a is supported by a base plate portion 34 in or near the through hole 36. In this embodiment, a plurality of supported portions 43a are provided on the lower surface 41a of the upper plate portion 41. The plurality of supported portions 43a are supported by the base plate portion 34 at predetermined positions in the horizontal direction. Specifically, the plurality of supported portions 43a are supported by a tapered portion 36c in each of the plurality of through holes 36. For example, the supported portion 43a is configured such that its outer diameter decreases as it approaches the lower part of the supported portion 43a. As an example, the supported portion 43a is a frustum-shaped cone that expands upward toward the supported portion 43a. As another example, the supported portion 43a may also be a hemispherical shape that expands upward toward the supported portion 43a.

[0055] The columnar portion 43b connects the support portion 43a and the contact plate portion 42. The columnar portion 43b is positioned below the supported portion 43a. The outer diameter of the columnar portion 43b is, for example, 20 mm.

[0056] When the first unit 30 separates from the second unit 40 and the first unit 30 descends relative to the second unit 40, the supported portion 43a is positioned above the through hole 36 or the base plate portion 34. The columnar portion 43b is inserted into the through hole 36. With the columnar portion 43b inserted into the through hole 36, there is a gap between the columnar portion 43b and the through hole 36 (around the columnar portion 43b) in all horizontal directions. For example, the inner diameter of the through hole 36 is larger than the outer diameter of the columnar portion 43b by a predetermined deviation allowable amount (i.e., the width W of the recess). Thus, in the horizontal direction, the columnar portion 43b can be displaced to a certain extent relative to the lower opening 36b of the through hole 36. In this way, the columnar portion 43b is configured to move up and down within the through hole 36. For example, a plurality of columnar portions 43b are respectively configured to be movable up and down in each of the plurality of through holes 36.

[0057] The detection unit 44 detects the detected unit 32. The detection unit 44 is disposed on the upper surface 41b of the upper plate 41. The detection unit 44 includes a camera sensor 44a and three range sensors 44b. The camera sensor 44a detects the mark 32b on the detected plate 32a by photographing the detected plate 32a disposed on the lower surface 33a of the top plate 33. The camera sensor 44a outputs the captured image to the teaching control unit 50.

[0058] Three ranging sensors 44b are fixed on the upper surface 41b of the upper plate 41 (see reference). Figure 5 (c) The optical axes of each ranging sensor 44b are configured to intersect with the top plate portion 33. Each ranging sensor 44b detects the detected plate 32a (i.e., the detected surface of the detected portion 32) located above each ranging sensor 44b, thereby detecting the distance between each ranging sensor 44b and the detected surface of the detected portion 32 in the Z direction. The three ranging sensors 44b output the distance between each ranging sensor 44b and the upper surface 41b of the upper plate portion 41 in the Z direction to the teaching control unit 50.

[0059] Refer again Figure 3 The second unit 40 also includes: a deceleration sensor 45, a communication unit 46, and a battery 47. The deceleration sensor 45 is disposed on the contact plate portion 42 of the second unit 40, with its optical axis extending downwards from the contact plate portion 42. The deceleration sensor 45 measures its distance from an object located below the teaching unit 20. For example, the deceleration sensor 45 measures its distance from the loading port 300. The deceleration sensor 45 outputs the measured distance to the teaching control unit 50.

[0060] The communication unit 46 is configured to communicate with other communication units 71 provided in the holding unit 7 of the overhead transport vehicle 1. For example, the communication unit 46 can communicate optically with other communication units 71. Thus, the electrical connection between the teaching unit 20 and the overhead transport vehicle 1 becomes unnecessary, and teaching using the teaching unit 20 can be performed automatically. The battery 47 is provided in the contact plate portion 42 of the second unit 40 for supplying power to the detection unit 44, the deceleration sensor 45, and the communication unit 46. Furthermore, the communication method between the communication unit 46 and the other communication units 71 is not limited to the above-described method and can also be a known communication method. In addition, the communication unit 46 and the battery 47 are configured not to interfere with the first unit 30 after it has been separated from the second unit 40.

[0061] The teach pendant control unit 50 is a control unit that controls various functions of the teach pendant unit 20. The teach pendant control unit 50 outputs teaching-related information to the transport vehicle controller 8 via the communication unit 46 and other communication units 71. (See reference...) Figure 6 Sections (a) to (c) provide detailed explanations of the teaching methods used in teaching unit 20. Figure 6 (a) to (c), the diagrams of communication unit 46, battery 47 and other communication units 71 are omitted.

[0062] First, such as Figure 6 As shown in (a), the teaching control unit 50 stops the walking unit 3 at a predetermined position on the track R and lowers the holding unit 7 by a predetermined distance according to the transfer conditions stored as initial settings. At this time, the deceleration sensor 45 detects that the holding unit 7 has lowered the predetermined distance.

[0063] Next, as Figure 6As shown in (b) and (c), when the second unit 40 is transferred (placed) to the loading port 300, the second unit 40 is positioned relative to the loading port 300 and separated from the first unit 30. Specifically, as Figure 6 As shown in (b), the teach control unit 50 lowers the holding unit 7, thereby transferring the second unit 40 to the loading port 300. The first unit 30 and the second unit 40 are positioned relative to the loading port 300. Then, as... Figure 6 As shown in (c), the teaching control unit 50 further lowers the holding unit 7. The first unit 30 separates from the second unit 40 and swings with a predetermined amplitude in at least one of the X and Y directions. The teaching control unit 50 calculates the average value of the information detected by the detection unit 44, and thereby calculates the center position of the swing amplitude of the first unit 30 as the position of the first unit 30.

[0064] Finally, as Figure 6 As shown in (a), the teaching control unit 50 raises the holding unit 7, allowing the first unit 30 to support the second unit 40, and retracts it from the loading port 300. When the first unit 30 supports the second unit 40, the supported portion 43a is supported by the base plate portion 34 in or near the through hole 36, guiding the second unit 40 relative to the first unit 30 towards a reference position in both the rotational direction (i.e., the rotational direction centered on the vertical axis) and the horizontal direction. In this embodiment, a plurality of supported portions 43a are supported at predetermined positions in the horizontal direction by the base plate portion 34. The plurality of supported portions 43a are each supported at a predetermined position by a tapered portion 36c in each of the plurality of through holes 36. Furthermore, "rotational direction centered on the Z-axis" is synonymous with the aforementioned "rotational direction in the horizontal plane."

[0065] In this way, when the second unit 40 is transferred to the loading port 300, the teaching control unit 50 calculates, based on the information detected by the detection unit 44, how much the position of the first unit 30 deviates from the position of the second unit 40 (the correction amount for the transfer conditions). Furthermore, the teaching control unit 50 outputs this correction amount for the transfer conditions as teaching-related information to the transport vehicle controller 8 via the communication unit 46 and the communication unit 71.

[0066] In the teaching unit 20 of this embodiment, the image obtained by photographing the mark 32b is acquired by the camera sensor 44a. The teaching control unit 50 calculates the rotation direction about the Z-axis and the positional offset of the first unit 30 relative to the second unit 40 in the horizontal direction according to the photographed image and a known method.

[0067] In the teaching unit 20 of this embodiment, the distance between the three distance sensors 44b and the detection plate 32a on the lower surface 33a of the first unit 30 is obtained by the three distance sensors 44b respectively. The teaching control unit 50 can calculate the relative tilt angle (tilt about the X-axis or about the Y-axis in the horizontal plane) of the first unit 30 relative to the second unit 40 according to the three obtained distances using a known method, and then calculate the correction amount for the transfer conditions.

[0068] In this way, by detecting the detected unit 32 with the detection unit 44, the teaching control unit 50 detects the positional offset of the first unit 30 relative to the second unit 40 in the X direction, Y direction, rotation direction with the Z direction as the central axis, and horizontal direction.

[0069] As described above, the area controller 110 controls the overhead conveyor 1 to hold the teaching unit 20 using the holding unit 7, and uses the teaching unit 20 to perform teaching of the transfer operation. More specifically, the area controller 110 performs holding control, that is, the overhead conveyor 1 moves toward a storage area or other storage location where the teaching unit 20 is stored and stops at that storage location, causing the holding unit 7 to descend and hold the teaching unit 20. The area controller 110 performs teaching control, that is, the overhead conveyor 1 holding the teaching unit 20 moves toward a transfer position for the loading port 300 and stops at that transfer position, performing a transfer operation on the loading port 300, thereby obtaining teaching data.

[0070] In addition, such as Figure 7 As shown, the aforementioned temporary storage area 400 (storage rack) is also positioned below the track R, just like the loading port 300. The temporary storage area 400 stores the teaching unit 20. The temporary storage area 400 includes: a plurality of positioning pins 401 and a charging mechanism 402 for charging the battery 47. When the teaching unit 20 is transferred (placed) into the temporary storage area 400, the plurality of positioning pins 401 position the teaching unit 20 relative to the temporary storage area 400. Furthermore, in top view, the temporary storage area 400 may also be positioned to the side of the track R.

[0071] After the aforementioned holding control, the area controller 110 of this embodiment performs teaching control on a plurality of loading ports 300. Specifically, the area controller 110 causes the overhead transport vehicle 1, which holds the teaching unit 20, to move toward a transfer position for a specified loading port 300. The area controller 110 stops the overhead transport vehicle 1 at the transfer position for the specified loading port 300 and performs teaching on the specified loading port 300. After teaching the specified loading port 300 is completed, the area controller 110 causes the overhead transport vehicle 1 to move toward a transfer position for another loading port 300.

[0072] The area controller 110 may also, after teaching the designated loading port 300, move the overhead transport vehicle 1 toward a storage location such as the temporary storage area 400 for storing the teaching unit 20. Alternatively, the area controller 110 may stop the overhead transport vehicle 1 at the storage location and lower the holding unit 7 to transfer the teaching unit 20 held by the holding unit 7 to the temporary storage area 400.

[0073] Such a series of teachings can also be configured such that the area controller 110 is automatically implemented based on certain triggers. Examples of triggers include: when the scheduled execution date arrives, when the vibration value generated when the container 200 is transferred to the loading port 300 exceeds a threshold, when there is a transfer anomaly or when signs of a transfer anomaly appear, etc.

[0074] The area controller 110 stores the teaching-related information obtained in this way for each loading port 300 and sends the information to each overhead conveyor 1. Each overhead conveyor 1 transfers the container 200 to each loading port 300 according to the transfer conditions stored in the conveyor controller 8 and the teaching-related information sent from the area controller 110.

[0075] According to the teaching unit 20 of this embodiment, when the second unit 40 separates from the first unit 30, the support of the base plate portion 34 on the supported portion 43a is released and the columnar portion 43b is inserted into the through hole 36, allowing a certain degree of positional displacement of the supported portion 43a relative to the through hole 36 in the horizontal direction. Therefore, in the teaching unit 20, positional displacement of the first unit 30 relative to the second unit 40 in the rotational direction about the Z-axis and in the horizontal direction is allowed. As a result, the positional displacement of the first unit 30 relative to the second unit 40 in the rotational direction about the Z-axis and in the horizontal direction can be detected with good accuracy. Thus, the positional displacement of the first unit 30 relative to the second unit 40 in the rotational direction about the Z-axis and in the horizontal direction can be detected automatically with good accuracy.

[0076] When the second unit 40 separates from the first unit 30, the first unit 30 does not contact the loading port 300. In this case, the position of the first unit 30 can be detected by considering the swing of the first unit 30. In this way, the positional offset of the first unit 30 relative to the second unit 40 in the horizontal direction can be detected automatically with higher accuracy.

[0077] When the first unit 30 supports the second unit 40, the supported part 43a is supported by the base plate part 34 near the through hole 36, thereby guiding the second unit 40 relative to the first unit 30 toward a reference position in both the rotational and horizontal directions. In this case, when the first unit 30 supports the second unit 40, the second unit 40 is guided relative to the first unit 30 toward a reference position in both the rotational and horizontal directions with the Z-direction as the central axis. Thus, the overhead transport vehicle 1 can automatically retract the teaching unit 20. As a result, the overhead transport vehicle 1 can automatically repeat the teaching process.

[0078] The base plate 34 has a plurality of through holes 36. The second unit 40 has a plurality of supported portions 43a supported by the base plate 34 at predetermined positions in the horizontal direction, and a plurality of columnar portions 43b that can move up and down in each of the plurality of through holes 36. In this case, when the first unit 30 supports the second unit 40, the base plate 34 of the main body 31 of the first unit 30 automatically guides the plurality of supported portions 43a of the second unit 40 to predetermined positions in the horizontal direction. Thus, the second unit 40 can be automatically guided relative to the first unit 30 towards a reference position in both the rotational direction about the Z-axis and the horizontal direction.

[0079] In each of the plurality of through holes 36, a tapered portion 36c is provided such that the inner diameter of the through hole 36 decreases as it approaches the bottom plate portion 34. The plurality of supported portions 43a are supported by the tapered portion 36c in each of the plurality of through holes 36. In this case, when the first unit 30 descends and releases its support for the second unit 40, and then rises and supports the second unit 40 again, the second unit 40 can be stably and automatically guided relative to the first unit 30 toward a reference position in the horizontal direction.

[0080] The first unit 30 has a detection unit 32. The second unit 40 has a detection unit 44. In this case, the weight of the second unit 40 is increased. Thus, when the first unit 30 descends and releases its support for the second unit 40, and when the first unit 30 rises and supports the second unit 40 again, the second unit 40 can be stably and automatically guided relative to the first unit 30 in a predetermined position in both the rotational direction about the Z-axis and the horizontal direction. Furthermore, it is not necessary to configure the detection unit 32 on the loading port 300, so teaching can be performed automatically.

[0081] The detection unit 32 has a detection plate 32a containing a mark 32b, and the detection unit 44 has a camera sensor 44a that detects the mark 32b. In this case, the detection accuracy of the camera sensor 44a can be improved.

[0082] The second unit 40 has a battery 47 that supplies power to the detection unit 44. In this case, the weight of the second unit 40 is further increased. Thus, when the first unit 30 descends and releases its support for the second unit 40, and when the first unit 30 rises and supports the second unit 40 again, the second unit 40 can be more easily guided automatically to a predetermined position relative to the first unit 30 in both the rotational direction about the Z-axis and the horizontal direction. Furthermore, compared to the case where the second unit 40 does not have a battery 47, it is not necessary to electrically connect the second unit 40 and other components (such as the first unit 30) to supply power to the detection unit 44 of the second unit 40. As a result, the teaching unit 20 can be implemented with a simpler configuration.

[0083] The overhead conveyor system 100 of this embodiment includes an overhead conveyor 1 with a transport container 200 or a teaching unit 20, and a teaching unit 20. In this case, the positional deviation in each direction during the transfer operation of the overhead conveyor 1 can be automatically detected with good accuracy.

[0084] The overhead conveyor system 100 includes a storage area 400 for storing the teaching unit 20. The storage area 400 has a charging mechanism 402 for charging the battery 47. In this case, the battery 47 can be charged while storing the teaching unit 20. As a result, teaching based on the overhead conveyor system 1 can be performed more efficiently.

[0085] The embodiments of this disclosure have been described above, but the present invention is not limited to the above embodiments. For example, it is sufficient that the first unit 30 has one of the detected part 32 and the detection part 44 installed on the main body 31, and the second unit 40 has the other of the detected part 32 and the detection part 44. Figure 8 As shown, unlike the embodiments described above, the teaching unit 120 in the first variation can also be configured such that the first unit 30 has a detection unit 44 mounted on the main body 31, and the second unit 40 has a detection unit 32. Specifically, the camera sensor 44a of the detection unit 44 can also be provided on the lower surface 33a of the top plate 33. The three ranging sensors 44b of the detection unit 44 can also be supported by the inner surfaces 35a of a plurality of sidewall portions 35. The detection unit 32 can also be provided on the upper surface 41b of the upper plate 41.

[0086] In the above embodiment, the base plate portion 34 of the first unit 30 has a plurality of through holes 36, but is not limited thereto. For example, the base plate portion 34 may have more than one through hole 36, and a plurality of inclined surfaces with different directions may be provided on the inner surface of the through hole 36. The plurality of inclined surfaces are guided in the horizontal direction by the support portion 43a to a predetermined position. As an example, the inner surface of the through hole 36 may also be a frustum-shaped pyramid that expands upward toward the base plate portion 34.

[0087] In this situation, when the first unit 30 descends and releases the support of the first unit 30 on the second unit 40, and when the first unit 30 rises and supports the second unit 40 again, the second unit 40 can be automatically guided relative to the first unit 30 to a predetermined position in the rotational direction and the horizontal direction with the Z direction as the central axis through the base plate portion 34 having one or more through holes 36.

[0088] In the above embodiment, each of the plurality of through holes 36 is provided with a tapered portion 36c such that the inner diameter of the through hole 36 decreases as it approaches the bottom of the base plate portion 34, but this is not a limitation. It is sufficient that the supported portion 43a is supported by the base plate portion 34 at a predetermined position in or near the through hole 36. For example, a support portion for supporting the supported portion 43a may be provided in each of the plurality of through holes 36. Engaging portions that engage with the supported portion 43a may also be provided on the inner surface of each of the plurality of through holes 36. Furthermore, the supported portion 43a may be supported by the upper surface 34a of the base plate portion 34 in the vicinity of the through hole 36, for example.

[0089] In the above embodiment, the detection unit 44 has a camera sensor 44a, but is not limited to this. Figure 9 This is a cross-sectional view showing the teaching unit 220 of the second modification. The detection unit 244 of the teaching unit 220 of the second modification differs from that of the teaching unit 120 of the first modification, and instead of the camera sensor 44a, it has three range sensors 244a, 244b, and 244c (see reference). Figure 10 The test unit 232 of the teaching unit 220 replaces the test board 32a and has two test boards 232a.

[0090] like Figure 9 and Figure 10As shown, three ranging sensors 244a, 244b, and 244c are disposed on the inner surface 35a of the sidewall portion 35. One of the two detected plates 232a extends along the X direction on the upper surface 41b of the upper plate portion 41. The other of the two detected plates 232a extends along the Y direction on the upper surface 41b of the upper plate portion 41. The ranging sensor 244a detects the distance between one end of the detected plate 232a in the X direction and the ranging sensor 244a. The ranging sensor 244b detects the distance between the other end of the detected plate 232a in the X direction and the ranging sensor 244b. The ranging sensor 244c detects the distance between the other detected plate 232a and the ranging sensor 244c. In this way, three ranging sensors 244a, 244b, and 244c detect two plates 232a, thereby detecting the positional offset of the first unit 30 relative to the second unit 40 in the rotational direction with the Z-axis as the central axis and in the horizontal direction.

[0091] In the above embodiments and modifications, the deceleration sensor 45 is disposed on the contact plate portion 42, but it is not limited thereto. Figure 8 As shown, the deceleration sensor 45 can also be set in the first unit 30.

[0092] In the above embodiment, the area controller 110 may also perform the correction (calibration) of the detection unit 44 when performing teaching control. Figure 11 This is a cross-sectional view of the calibration table 500 used for calibration of the detection unit 44. The teaching control unit 50 moves the teaching unit 20 toward the calibration table 500. The calibration table 500 has a positioning part 501 for positioning the first unit 30 and a loading port 300. When the teaching unit 20 is moved toward the calibration table 500, the first unit 30 separates from the second unit 40, and in the horizontal direction, the first unit 30 and the second unit 40 are positioned at a reference position. In this state, the detection unit 44 can detect the tested unit 32, thereby performing calibration of the detection unit 44.

[0093] [Explanation of Labels in the Attached Image]

[0094] 1: Overhead transport vehicle

[0095] 20, 120, 220: Demonstration Units

[0096] 30: Unit 1

[0097] 31: Main body

[0098] 32, 232: The part being tested

[0099] 34: Base plate

[0100] 36: Through hole

[0101] 36c: Conical part

[0102] 40: Unit 2

[0103] 42: Contact plate section

[0104] 42b: Lower surface (contact surface)

[0105] 43a: Supported part

[0106] 43b: columnar part

[0107] 44, 244: Testing Department

[0108] 47: Battery

[0109] 100: Overhead Transport Vehicle System

[0110] 200: Container (object being transported)

[0111] 300: Loading Port (Transfer Section)

[0112] 400: Temporary storage area (storage sheds)

[0113] 402: Charging mechanism.

Claims

1. A teaching unit for teaching when a transport vehicle moves the object toward a transfer section containing the object, wherein, The teaching unit comprises: a first unit that can be freely raised and lowered and held by the overhead transport vehicle, and a second unit that can be freely detached and supported by the first unit. The first unit includes: a main body comprising a base plate, and one of a detection part and a detection part mounted on the main body; the base plate has at least one through hole. The second unit comprises: at least one supported portion supported by the base plate portion in or near the through hole; a contact plate portion located below the base plate portion and including a contact surface that contacts the transfer portion; at least one columnar portion for connecting the supported portion and the contact plate portion and movable up and down within the through hole; and the other of the detected portion and the detected portion. When the second unit is placed onto the transfer section, the second unit is positioned relative to the transfer section and separates from the first unit. The detection unit detects the positional offset of the first unit relative to the second unit in the rotational direction centered on the vertical axis and in the horizontal direction by detecting the detected unit.

2. The teaching unit as described in claim 1, wherein, When the first unit supports the second unit, the supported portion is supported by the base plate portion near the through hole, thereby guiding the second unit to a reference position relative to the first unit in the rotational direction and the horizontal direction.

3. The teaching unit as described in claim 2, wherein, The base plate is provided with a plurality of through holes. The second unit has: a plurality of supported portions supported by the base plate at predetermined positions in the horizontal direction, and a plurality of columnar portions that can move up and down in each of the plurality of through holes.

4. The teaching unit as described in claim 3, wherein, In each of the plurality of through holes, a tapered portion is provided such that the inner diameter of the through hole decreases as it approaches the lower part of the base plate. Each of the plurality of supported portions is supported by the tapered portion in each of the plurality of through holes.

5. The teaching unit as described in claim 1, wherein, The inner surface of the through hole is provided with a plurality of inclined surfaces, the plurality of inclined surfaces having different directions from each other, and the plurality of inclined surfaces guiding the supported part toward a predetermined position in the horizontal direction.

6. The teaching unit as described in claim 1, wherein, The first unit has the detected part. The second unit has the detection unit.

7. The teaching unit as described in claim 6, wherein, The second unit also has a battery that supplies power to the detection unit.

8. An overhead conveyor system, wherein, have: The overhead conveyor for transporting the transported items; and The teaching unit as described in claim 1.

9. An overhead conveyor system, wherein, have: A high-lift transport vehicle for transporting the items being transported; The teaching unit as described in claim 7; and Storage rack for storing the teaching unit, The storage rack has a charging mechanism for charging the battery.

Images