Conveyor

Abstract

Conveyor device comprising a carriage (30), a conveying unit (1, 2, 3, 4) with a linear motor (11) and a plurality of guide rails (14) over which the carriage can be moved, wherein the conveying unit is configured to convey the carriage, and a controller (40) which is configured or programmed to detect a movement state of the carriage between the guide rails based on a vibration in a connecting section between the plurality of guide rails or electrical drive power of the linear motor in the connecting section between the plurality of guide rails.

Description

Technical area

[0001] The present invention relates to a conveying device and, in particular, it relates to a conveying device having a conveying device which has a plurality of guide rails over which a carriage can be moved. Technical background

[0002] A conveyor device with a conveyor mechanism is known from the prior art, which has a plurality of guide rails over which a carriage can be moved. Such a conveyor device is disclosed, for example, in JP 2019-062 614 A.

[0003] JP 2019-062614 A discloses a conveying device comprising a platform carriage (slide) and a conveyor device that transports the platform carriage. The conveyor device has a linear motor and a plurality of guide rails over which the platform carriage can be moved. In the device disclosed in JP 2019-062614 A In the conveyor device described, the position of the guide rail over which the platform trolley is moved is corrected based on information about the positions of the guide rails in such a way that a connecting position between the guide rails is precisely determined.

[0004] Furthermore, DE 10 2019 210 621 A1 describes an automated workpiece transport vehicle provided in a transport system that transports a workpiece to multiple processing devices. The automated workpiece transport vehicle comprises a workpiece support part that supports the workpiece, a moving mechanism provided on the workpiece support part, a vibration detection unit that detects vibration of the workpiece support part and records the vibration as vibration data, and a receiver that receives a control signal transmitted from a control unit in the transport system.

[0005] Furthermore, US 2019 / 0 160 609 A1 describes a transport system comprising a transport path with at least two transport modules, a carriage configured to move along the transport path, a controller provided on each of the two transport modules and configured to drive the carriage in response to a travel command, and a sensor provided on each of the two transport modules. The travel command is corrected using the distance between the sensors on the two transport modules.

[0006] Furthermore, JP 2019 - 062 614 A describes a transport system comprising a first transport module through which a carriage moves, a second transport module configured to be moved into a position coupled to the first transport module and capable of moving the carriage between the first transport module and the second transport module, a position detection unit that detects the position of the second transport module in the direction of movement and outputs position information, a first control unit that controls the movement of the carriage on the first transport module, a first control unit that controls the movement of the carriage on the first transport module, a second control unit that controls the movement of the carriage on the second transport module, a third control unit that controls the movement of the second transport module, and a fourth control unit that controls the first control unit,controls the second control unit and the third control unit, and the fourth control unit corrects the connection position between the second transport module and the first transport module based on the position information output by the position detection unit.,

[0007] Furthermore, JP 5 473 591 B2 describes a transmission vibration monitoring device that monitors vibrations acting on a carrier supporting a substrate and moving along a transmission passage laid in the inline film forming apparatus. The monitoring device comprises an acceleration sensor mounted on the carrier and capable of measuring a change in acceleration, and a PC that analyzes the acceleration measurement data obtained from the acceleration sensor.

[0008] Furthermore, JP H04 - 20 477 A describes the monitoring of vibrations in an elevator using a sensor. Brief description of the inventionProblem to be solved by the invention

[0009] However, in the conveyor device described in JP 2019-062614 A, when the bimetallic effect occurs with a platform on which the platform trolley is mounted due to a change in the installation ambient temperature or the shape of a connecting portion of the guide rails due to a change over time, for example, it becomes difficult to accurately align the connecting position of the plurality of guide rails. In this case, there is a high probability of an impact on the platform trolley at the connecting position of the plurality of guide rails, resulting in damage to the platform trolley and the guide rails.

[0010] The present invention has been proposed to solve the problem mentioned above, and an object of the present invention is to provide a conveyor device capable of significantly reducing or preventing damage to a plurality of guide rails and a carriage due to an impact on the carriage at a connecting position of the guide rails. Means of solving the problem

[0011] In order to achieve the object mentioned at the outset, a conveying device according to one aspect of the present invention comprises a carriage, a conveying device with a linear motor and a plurality of guide rails over which the carriage can be moved, wherein the conveying device is configured to convey the carriage, and a controller which is configured or programmed to detect a moving state of the carriage between the guide rails based on a vibration in a connecting section between the plurality of guide rails or electrical drive power of the linear motor in the connecting section between the plurality of guide rails.

[0012] As described above, the conveyor device according to this aspect of the present invention includes the controller configured or programmed to detect the traveling state of the carriage between the guide rails based on the vibration or the electric drive power of the linear motor in the connecting portion between the plurality of guide rails. Accordingly, when the carriage passes through the connecting portion between the guide rails, the traveling state of the carriage between the guide rails can be understood based on the vibration or the electric drive power, and thus, it is possible to predict in advance that an impact will occur on the carriage in the connecting portion between the guide rails. Thus, the generation of vibration can be effectively taken into account in the preventive maintenance of the guide rails and the carriage.Consequently, it is possible to significantly reduce or prevent damage to the guide rails and the carriage due to the impact on the carriage at a connecting position of the guide rails.

[0013] In the aforementioned conveyor device according to this aspect, the controller is preferably configured or programmed to perform control to provide notification of the travel state based on the travel state of the carriage between the guide rails. Accordingly, it is possible to provide notification of the travel state of the carriage between the guide rails before an abnormality occurs, allowing an operator to perform maintenance and inspection of the carriage and the conveyor before the guide rails and carriage are damaged.

[0014] In the conveying device according to this aspect mentioned at the outset, the conveying device comprises fixed first and second conveying devices and a third conveying device having a movement mechanism configured to move the guide rails and the linear motor, wherein the third conveying device is configured to convey the carriage from the first conveying device to the second conveying device, and the controller is preferably configured or programmed to detect the travel state of the carriage between the guide rails based on the electric drive power of the linear motor in a connecting section between the guide rails from the first conveying device to the third conveying device and / or a connecting section between the guide rails from the third conveying device to the second conveying device.Accordingly, a change in the travel state due to a change in alignment accuracy can be detected in the connecting section between the guide rails of the third conveyor, which moves relative to the fixed first and second conveyors, and the first or second conveyor. Thus, it is possible to significantly reduce or prevent damage to the guide rails and the carriage in the connecting section between the guide rails that move relative to each other.

[0015] The aforementioned conveyor device with the conveyor device comprising the first conveyor device, the second conveyor device, and the third conveyor device further comprises a vibration sensor provided in a vicinity of the connecting portion of the guide rails between the third conveyor device and the first or second conveyor device. The controller is configured or programmed to detect the traveling state of the carriage between the guide rails based on a vibration detection result of the vibration sensor. Accordingly, the vibration at the time of transfer of the carriage between the guide rails can be easily detected by the vibration sensor provided in the vicinity of the connecting portion of the guide rails between the third conveyor device and the first or second conveyor device.

[0016] In this case, the vibration sensor is preferably provided in the third conveyor. Accordingly, the vibration sensor is provided in the movable third conveyor in such a way that it is possible to accurately detect the vibration of the third conveyor, which is more likely to vibrate than the fixed first or second conveyor.

[0017] In the aforementioned conveying device with the conveying device comprising the first conveying device, the second conveying device, and the third conveying device, the first conveying device and the second conveying device each preferably have a plurality of conveying modules that have the guide rails and the linear motor, wherein the plurality of conveying modules are connected in series with one another, and the controller is preferably configured or programmed to detect the travel state of the carriage between the guide rails based on the vibration or the electric drive power of the linear motor in a connecting section between the guide rails of the plurality of conveying modules connected in series with one another. Accordingly, it is possible to detect the travel state of the carriage in the connecting section of the guide rails between the conveying modules of the fixed first or second conveying device.

[0018] In the aforementioned conveyor device according to this aspect, the controller is preferably configured or programmed to provide notification of the travel status of the carriage between the guide rails when the vibration or the electric drive power of the linear motor in the connecting section between the guide rails exceeds a predetermined threshold. Accordingly, when the vibration or the electric drive power of the linear motor increases beyond the predetermined threshold, the operator can be prompted to perform maintenance and inspection of the carriage and the conveyor.

[0019] In the aforementioned conveyor device according to this aspect, the controller is preferably configured or programmed to provide notification of the travel state of the carriage between the guide rails when the vibration or the electric drive power of the linear motor in the connecting section between the guide rails increases by a predetermined percentage from an initial state. Accordingly, when the vibration or the electric drive power of the linear motor increases by the predetermined percentage from the initial state, the operator can be prompted to perform maintenance and inspection of the carriage and the conveyor.

[0020] In the aforementioned conveying device according to this aspect, the carriage preferably comprises a plurality of carriages, and the controller is preferably configured or programmed to distinguish between each of the plurality of carriages and detect the traveling state of the carriage between the guide rails. Accordingly, it is possible to easily determine whether an increase in vibration or the electric drive power of the linear motor is caused by the individual carriages or the connecting portion between the guide rails. Effect of the invention

[0021] According to the present invention, as described above, it is possible to significantly reduce or prevent damage to the guide rails and the carriage due to the impact on the carriage at the connecting position of the guide rails. Brief description of the drawings [ Fig. 1] Plan view showing a conveying device according to an embodiment of the present invention. [ Fig. 2] Block diagram showing the overall configuration of the conveying apparatus according to the embodiment of the present invention. [ Fig. 3] A sectional view showing a conveyor and a carriage of the conveyor device according to the embodiment of the present invention. [ Fig. 4] Diagram showing an exemplary vibration detection of the conveyor device according to the embodiment of the present invention. [ Fig. 5] Flowchart showing a travel state notification process performed by a controller of the conveyor device according to the embodiment of the present invention. Modes for carrying out the invention

[0022] An embodiment embodying the present invention will be described below with reference to the drawings.

[0023] The configuration of a conveying device 100 according to the embodiment of the present invention will now be described with reference to FIG. Fig. 1 to 4 described. Configuration of the conveyor device

[0024] The conveying device 100 according to this embodiment conveys an object to be conveyed, placed on a carriage 30, along conveyors 1 and 2. Operations are performed on the object to be conveyed by the conveying device 100 at a plurality of conveying positions. A robot or an operator performs operations on the object to be conveyed.

[0025] As in Fig. 1, the conveying device 100 comprises the conveying device 1, the conveying device 2, a transfer conveyor 3, a transfer conveyor 4 and the carriage 30. Furthermore, the conveying device 100, as shown in Fig. 2, a controller 40 and a display 50. Conveyor 1 is an example of a "first conveyor" or a "second conveyor" in the claims, and conveyor 2 is an example of a "first conveyor" or a "second conveyor" in the claims. Transfer conveyor 3 is an example of a "conveyor" or a "third conveyor" in the claims, and transfer conveyor 4 is an example of a "conveyor" or a "third conveyor" in the claims.

[0026] Conveyor 1 includes a plurality of (three) conveyor modules 10. Conveyor 2 includes a plurality of (three) conveyor modules 10. The plurality of conveyor modules 10 are connected in series, and a conveying path for carriage 30 is formed therein. Carriage 30 is conveyed in an X direction on conveyors 1 and 2 and is conveyed in a Y direction by transfer conveyors 3 and 4 from conveyor 1 (2) to conveyor 2 (1). This means that carriage 30 is conveyed and travels in a circle successively on conveyor 1, transfer conveyor 3, conveyor 2, and transfer conveyor 4.

[0027] As in Fig. 2, the conveyor modules 10 each comprise a linear motor stator 11, a position detection device 12 and a vibration sensor 13. The conveyor modules 10 further comprise guide rails 14, as shown in the Fig. 1 and Fig. 3. Furthermore, the conveyor modules 10 each have a cover 15. The linear motor stator 11 is an example of a "linear motor" in the claims.

[0028] As in Fig. As shown in Figure 2, the transfer conveyors 3 and 4 each include a conveying mechanism 20 that conveys the carriage 30 in the X direction and a moving mechanism 21 that moves the conveying mechanism 20 in the Y direction. The conveying mechanism 20 includes a linear motor stator 11, a position detection device 12, and a vibration sensor 13. The moving mechanism 21 includes guide rails and a ball screw mechanism.

[0029] As in Fig. As shown in Figure 3, the carriage 30 includes a carriage main body 31, a linear motor moving device 32, guide blocks 33, and a magnetic measuring body 34. A plurality of carriages 30 are provided. The plurality of carriages 30 move independently on the conveyors 1 and 2 and the transfer conveyors 3 and 4.

[0030] Conveyors 1 and 2 are provided substantially parallel to each other. Conveyor 1 conveys carriage 30 in an X2 direction, and conveyor 2 conveys carriage 30 in an X1 direction. Conveyors 1 and 2 are mounted on a platform. This means that the linear motor stators 11 and the guide rails 14 of conveyors 1 and 2 are provided in a fixed manner.

[0031] The transfer conveyor 3 is arranged adjacently on the X2 direction sides of the conveyors 1 and 2. The transfer conveyor 4 is arranged adjacently on the X1 direction sides of the conveyors 1 and 2. The transfer conveyors 3 and 4 move the guide rails 14 and the linear motor stators 11 in the Y direction with the moving mechanisms 21. The conveyors 3 and 4 are provided to transfer the carriage 30 from the conveyor 1 (2) to the conveyor 2 (1).

[0032] The linear motor stators 11 each have an electromagnet, and electrical drive power (current) is supplied to the electromagnet such that the carriage 30 is moved. The linear motor stators 11 are arranged along a conveying direction (X-direction). As shown in Fig. 3, the cores of the electromagnets of the linear motor stators 11 extend along the Y direction.

[0033] The position detection devices 12 face the magnetic measuring body 34 provided on the carriage 30 in the Y direction. The position detection devices 12 detect the magnetism of the magnetic measuring body 34 to detect the position of the carriage 30. The position of the carriage 30 detected by the position detection devices 12 is used for feedback control of the movement of the carriage 30.

[0034] The vibration sensors 13 detect vibrations generated when the carriage 30 moves. Specifically, the vibration sensors 13 detect vibrations generated when the carriage 30 moves between the conveyor modules 10, vibrations generated when the carriage 30 moves from the conveyor module 10 to the transfer conveyor 3, and vibrations generated when the carriage 30 moves from the transfer conveyor 3 to the conveyor module 10. Furthermore, the vibration sensors 13 measure acceleration to detect vibrations. The vibration sensors 13 are provided in the vicinity of a connecting portion between the conveyor modules 10. Furthermore, the vibration sensors 13 are provided in the vicinity of connecting portions between the conveyor modules 10 and the transfer conveyors 3 and 4.The vibration sensor 13 is provided in the transfer conveyor 3 in the vicinity of connecting sections with the conveyor modules 10. The vibration sensor 13 is provided in the transfer conveyor 4 in the vicinity of connecting sections with the conveyor modules 10.

[0035] The guide rails 14 extend along the conveying direction (X-direction) of the carriage 30. A pair of guide rails 14 are provided parallel to each other in the Y-direction. The guide rails 14 are aligned such that the carriage 30 can be moved between the conveyor modules 10 that are adjacent to each other in the X-direction. The guide blocks 33 of the carriage 30 engage the guide rails 14 to enable movement in the X-direction.

[0036] The covers 15 are provided to cover upper portions of the linear motor stators 11, the position detection devices 12, the vibration sensors 13, and the guide rails 14. That is, the covers 15 are provided such that the upper portions of the linear motor stators 11, the position detection devices 12, the vibration sensors 13, and the guide rails 14 are not exposed even when the carriage 30 is not provided.

[0037] The object to be conveyed is placed on the carriage main body 31. The carriage main body 31 is further provided to surround the covers 15 of the conveyors 1 and 2 as viewed in the conveying direction (X direction). The linear motor moving device 32, the guide blocks 33, and the magnetic measuring body 34 are attached to the carriage main body 31.

[0038] The linear motor moving device 32 is provided to sandwich the linear motor stator 11 in the Y direction. The linear motor moving device 32 includes a plurality of permanent magnets arranged along the conveying direction (X direction).

[0039] The guide blocks 33 are provided so as to be movable along the guide rails 14. The guide blocks 33 each have a plurality of balls that move and circulate along the direction of movement.

[0040] The magnetic measuring body 34 is magnetized in a predetermined pattern along the conveying direction (X-direction).

[0041] The controller 40 controls each section of the conveyor device 100. The controller 40 controls the electrical power supplied to the linear motor stators 11 to control the movement of the carriage 30. Furthermore, the controller 40 controls the drive of the moving mechanisms 21 of the transfer conveyors 3 and 4 to control the movement of the conveyor mechanisms 20. The controller 40 includes a CPU (main processor), a memory, etc.

[0042] The controller 40 detects the traveling state of the carriage 30 between the guide rails 14 based on vibrations in a connecting portion between a plurality of guide rails 14 or the electric drive power of the linear motor stators 11 in the connecting portion between the plurality of guide rails 14. The controller 40 further performs control to provide notification of the traveling state based on the traveling state of the carriage 30 between the guide rails 14.

[0043] Specifically, the controller 40 displays the travel state of the carriage 30 between the guide rails 14 on the display 50 to provide notification.

[0044] The controller 40 detects the travel state of the carriage 30 between the guide rails 14 based on vibrations or the electric drive power of the linear motor stators 11 in a connecting section between the guide rails 14 from the conveyor 1 (2) to the transfer conveyor 3 (4) and / or a connecting section between the guide rails 14 from the transfer conveyor 3 (4) to the conveyor 2 (1).

[0045] The controller 40 detects the traveling state of the carriage 30 between the guide rails 14 based on vibrations or the electric drive power of the linear motor stators 11 in a connecting portion between the guide rails 14 of the plurality of conveyor modules 10 connected in series with each other.

[0046] The controller 40 distinguishes between each of the plurality of carriages 30 and detects the movement states of the carriages 30 between the guide rails 14. That is, the controller 40 distinguishes between each of the plurality of carriages 30 and controls the movement of each carriage 30 while tracking the position of each carriage 30. The controller 40 further detects the state of the carriage 30 located in the connecting portion between the guide rails 14 to detect the movement state at that time.

[0047] The controller 40 detects the travel state of the carriage 30 between the guide rails 14 based on the vibration detection results of the vibration sensors 13.

[0048] The controller 40 provides notification of the travel state of the carriage 30 between the guide rails 14 when the vibrations or the electric drive power of the linear motor stators 11 in the connecting section between the guide rails 14 exceeds a predetermined threshold. For example, the controller 40 provides, as in a Fig. 4, when the acceleration caused by the vibrations exceeds a threshold value, the controller 40 provides notification of the travel status of the carriage 30 between the guide rails 14. The threshold value is set to a value at which the carriage 30 and the guide rails 14 are not damaged. The controller 40 further sets a predetermined period of time (for example, 400 milliseconds) as the period during which the carriage 30 travels through the connecting section between the guide rails 14. Then, the controller 40 recognizes vibrations within the predetermined period of time as vibrations generated in the connecting section.

[0049] The controller 40 provides notification of the travel state of the carriage 30 between the guide rails 14 when the vibrations or the electric drive power of the linear motor stators 11 in the connecting section between the guide rails 14 increases by a predetermined percentage from the initial state. For example, the controller 40 provides notification of the travel state when the maximum value of the vibrations in the connecting section between the guide rails 14 increases by a predetermined percentage (e.g., 20%) from the initial state (at the time of installation).The controller 40 further provides notification of the travel state when the maximum value of the electric drive power of the linear motor stators 11 in the connecting section between the guide rails 14 increases by a predetermined percentage (for example, 20%) from the initial state (at the time of installation).

[0050] For example, the controller 40 displays a notification on the display 50 indicating that "at a location P1, vibrations are increasing from a date and time T1. Please check the positions of the guide rails in a connecting section at the location P1." The controller 40 further displays a notification on the display 50 indicating that "at a location P2, vibrations are increasing from a date and time T2 with respect to a carriage D1. Please check the positions of the guide rails in a connecting section at the location P2 and check the status of the carriage D1." The controller 40 further displays a notification on the display 50 indicating that "at a location P3, a current value at the time of travel is increasing from a date and time T3. Please check the positions of the guide rails in a connecting section at the location P3."The controller 40 further displays a notification on the display 50 indicating that "at a location P4, a current value at the time of travel is increasing from a date and time T4 with respect to a carriage D2. Please check the positions of the guide rails in a connecting section at the location P4 and check the condition of the carriage D2." The controller 40 further displays a notification on the display 50 indicating that "at a location P5, vibrations and a current value at the time of transfer are increasing from a date and time T5. Please check the positions of the guide rails in a connecting section at the location P5." The controller 40 further displays a notification on the display 50 indicating that "at a location P6, vibrations and a current value at the time of transfer are increasing from a date and time P6 with respect to a carriage D3.Please check the positions of the guide rails in a connecting section at location P6 and check the condition of the carriage D3."

[0051] The display 50 displays a screen for operating the conveyor device 100, information about the status of the conveyor device 100, information about an operating state, etc. The display 50 also displays the travel status of the carriage 30 between the guide rails 14. The display 50 is a thin display, such as a liquid crystal display or an organic EL display. The display 50 further includes a touch panel for accepting operations. Travel status notification process

[0052] A travel state notification process performed by the controller 40 of the conveyor device 100 will now be described with reference to Fig. 5 described.

[0053] In step S1 from Fig.5, the controller 40 detects vibrations at the time of transfer of the carriage 30 between the guide rails 14 and the drive currents of the linear motor stators 11 at the time of transfer of the carriage 30 between the guide rails 14. In step S2, the controller 40 determines whether the detected vibrations or drive currents are greater than the threshold value or whether the detected vibrations or drive currents have increased by 20% or more since the time of installation. If the detected vibrations or drive currents are greater than the threshold value or if the detected vibrations or drive currents have increased by 20% or more since the time of installation, the process proceeds to step S4. If the detected vibrations or drive currents are less than or equal to the threshold value and the detected vibrations or drive currents have not increased by 20% or more since the time of installation, the process proceeds to step S3.

[0054] In step S3, the controller 40 determines that there is no problem. In this case, notification of the travel status of the carriage 30 between the guide rails 14 is not provided. Furthermore, the detected vibrations at the time of transfer of the carriage 30 between the guide rails 14 and the detected drive currents of the linear motor stators 11 at the time of transfer of the carriage 30 between the guide rails 14 are stored. After that, the process returns to step S1.

[0055] In step S4, the controller 40 determines whether or not there is dependency on the specific carriage 30. That is, the controller 40 determines whether or not vibration is generated when the specific carriage 30 passes through the connecting section between the guide rails 14. If vibration is generated in the connecting section between the guide rails 14 with respect to a plurality of carriages 30, the controller 40 determines that there is no dependency on the specific carriage 30. If there is dependency on the specific carriage 30, the process proceeds to step S5, and if there is no dependency on the specific carriage 30, the process proceeds to step S6.

[0056] In step S5, the controller 40 provides a notification to check both the travel position between the guide rails 14 and the specific carriage 30. If only the specific carriage 30 contributes to the vibrations, a notification is provided to check the specific carriage 30.

[0057] After that, the movement status notification process is terminated.

[0058] In step S6, the controller 40 provides a notification to check the travel position between the guide rails 14. After that, the travel status notification process is terminated. Advantageous effects of this embodiment

[0059] According to this embodiment, the following advantageous effects are achieved.

[0060] According to this embodiment, as described above, the conveyor device 100 includes the controller 40 configured or programmed to detect the traveling state of the carriage 30 between the guide rails 14 based on the vibrations in the connecting portion between the plurality of guide rails 14 or the electric drive power of the linear motors in the connecting portion between the plurality of guide rails 14. Accordingly, when the carriage 30 passes through the connecting portion between the guide rails 14, the traveling state of the carriage 30 between the guide rails 14 can be understood based on the vibrations or the electric drive power, and thus, it is possible to predict in advance that an impact will occur on the carriage 30 in the connecting portion between the guide rails 14.Thus, the generation of vibrations can be effectively addressed during preventive maintenance of the guide rails 14 and the carriage 30. Consequently, it is possible to significantly reduce or prevent damage to the guide rails 14 and the carriage 30 due to impact on the carriage 30 at a connecting position of the guide rails 14.

[0061] According to this embodiment, the controller 40 is configured or programmed as described above to perform control to provide notification of the travel state based on the travel state of the carriage 30 between the guide rails 14. Accordingly, it is possible to provide notification of the travel state of the carriage 30 between the guide rails 14 before an abnormality occurs, and thus the operator can perform maintenance and inspection of the carriage 30, the conveyors 1 and 2, and the transfer conveyors 3 and 4 before the guide rails 14 and the carriage 30 are damaged.

[0062] According to this embodiment, the controller 40 is configured or programmed, as described above, to detect the travel state of the carriage 30 between the guide rails 14 based on the vibrations or the electric drive power of the linear motors in the connecting section between the guide rails 14 from the conveyor 1 (2) to the transfer conveyor 3 (4) and / or the connecting section between the guide rails 14 from the transfer conveyor 3 (4) to the conveyor 2 (1). Accordingly, in the connecting section between the guide rails 14 of the transfer conveyor 3 (4) moving relative to the fixed conveyors 1 and 2 and the conveyor 1 and 2, a change in the travel state due to a change in the alignment accuracy can be detected.Thus, it is possible to significantly reduce or prevent damage to the guide rails 14 and the carriage 30 in the connecting portion between the guide rails 14, which move relative to each other.

[0063] According to this embodiment, as described above, the vibration sensor 13 is provided in the vicinity of the connecting portion of the guide rails 14 between the transfer conveyor 3 (4) and the conveyor 1 or 2, and the controller 40 is configured or programmed to detect the traveling state of the carriage 30 between the guide rails 14 based on the vibration detection result of the vibration sensor 13. Accordingly, the vibrations at the time of transfer of the carriage 30 between the guide rails 14 can be easily detected by the vibration sensor 13 provided in the vicinity of the connecting portion of the guide rails 14 between the transfer conveyor 3 (4) and the conveyor 1 or 2.

[0064] According to this embodiment, the vibration sensor 13 is provided in the transfer conveyors 3 and 4 as described above. Accordingly, the vibration sensor 13 is provided in the movable transfer conveyors 3 and 4 such that it is possible to accurately detect the vibrations of the transfer conveyor, whose vibration is more likely than that of the fixed conveyor 1 or 2.

[0065] According to this embodiment, the controller 40 is configured or programmed, as described above, to detect the travel state of the carriage 30 between the guide rails 14 based on the vibrations or the electric drive power of the linear motors in the connecting section between the guide rails 14 of the plurality of conveyor modules 10 connected in series. Accordingly, it is possible to detect the travel state of the carriage 30 in the connecting section of the guide rails 14 between the conveyor modules 10 of the fixed conveyor device 1 or 2.

[0066] According to this embodiment, the controller 40 is configured or programmed, as described above, to provide notification of the travel status of the carriage 30 between the guide rails 14 when the vibrations or the electric drive power of the linear motors in the connecting section between the guide rails 14 exceed the predetermined threshold. Accordingly, when the vibrations or the electric drive power of the linear motors increase beyond the predetermined threshold, the operator can be prompted to perform maintenance and inspection of the carriage 30, the conveyors 1 and 2, and the transfer conveyors 3 and 4.

[0067] According to this embodiment, the controller 40 is configured or programmed as described above to provide notification of the travel state of the carriage 30 between the guide rails 14 when the vibrations or the electric drive power of the linear motors in the connecting section between the guide rails 14 increase by the predetermined percentage from the initial state. Accordingly, when the vibrations or the electric drive power of the linear motors increase by the predetermined percentage from the initial state, the operator can be prompted to perform maintenance and inspection of the carriage 30, the conveyors 1 and 2, and the transfer conveyors 3 and 4.

[0068] According to this embodiment, the controller 40 is configured or programmed as described above to distinguish between each of the plurality of carriages 30 and to detect the traveling state of the carriage 30 between the guide rails 14. Accordingly, it is possible to easily determine whether an increase in vibration or the electric drive power of the linear motors is caused by the individual carriages 30 or the connecting portion between the guide rails 14. Modification examples

[0069] The embodiment disclosed herein should be construed as illustrative and not restrictive in all respects. The scope of the present invention is not indicated by the above description of the embodiment, but by the scope of the claims, and all modifications (modification examples) within the meaning and scope of the claims are also included.

[0070] For example, although the above embodiment showed the example in which both the vibrations and the electric drive power of the linear motors in the connecting portion between the guide rails are detected to detect the travel state between the guide rails, the present invention is not limited to this. In the present invention, the vibrations and / or the electric drive power of the linear motors in the connecting portion between the guide rails may be detected to detect the travel state between the guide rails. If the vibrations in the connecting portion between the guide rails are not detected, the vibration sensor may not be provided.

[0071] Although the above embodiment showed the example in which the vibration sensor is provided in each of the plurality of conveyor modules and the transfer conveyors (third conveyor), the present invention is not limited to this. In the present invention, the vibration sensor may be provided in only one of the conveyor modules in the connecting portion between the guide rails, or in only one of the conveyor modules and the third conveyor in the connecting portion between the guide rails.

[0072] Although the above embodiment showed the example in which the moving mechanism of each of the transfer conveyors (third conveyor) moves the linear motor and the guide rails horizontally, the present invention is not limited to this. In the present invention, the moving mechanism of the third conveyor may move the linear motor and the guide rails vertically. In this case, the first conveyor and the second conveyor may be arranged vertically.

[0073] Although the above embodiment showed the example in which the moving mechanism of each of the transfer conveyors (third conveyor) communicates with the linear motor and the guide rails, the present invention is not limited to this. In the present invention, the moving mechanism of the third conveyor can rotate and move the linear motor and the guide rails.

[0074] Although the above embodiment showed the example in which notification of the travel status between the guide rails is provided by displaying the travel status between the guide rails on the display, the present invention is not limited to this. In the present invention, notification of the travel status between the guide rails may be provided by sound. Alternatively, information may be sent to an external terminal to provide notification.

[0075] Although the above embodiment showed the example in which the conveyors (first conveyor and second conveyor) each have three conveyor modules, the present invention is not limited to this. In the present invention, the conveyors may have one, two, or four or more conveyor modules.

[0076] Although in the aforementioned embodiment, the control process operations performed by the controller are described using the flow controlled by a process flow in which processes are performed sequentially in a process flow for ease of illustration, the present invention is not limited to this. In the present invention, the control process operations performed by the controller may be performed in an event-triggered manner, where processes are performed based on events. In this case, the control process operations may be performed entirely in an event-triggered manner or in a combination of an event-triggered manner and a flow-triggered manner. List of reference symbols 1, 2 conveyor (first conveyor, second conveyor) 3, 4 transfer conveyors (conveyor system, third conveyor system) 10 conveyor module 11 Linear motor stator (linear motor) 13 Vibration sensor 14 Guide rail 21 Movement mechanism 30 sleds 40 controllers 100 conveyor device

Claims

[1] Conveying device (100), comprising: a carriage (30); a conveyor device (1, 2, 3, 4) with a linear motor (11) and a plurality of guide rails (14) over which the carriage (30) can be moved, wherein the conveyor device (1, 2, 3, 4) is configured to convey the carriage (30); a controller (40) configured or programmed to detect a travel state of the carriage (30) between the guide rails (14) based on a vibration in a connecting section between the plurality of guide rails (14) or electric drive power of the linear motor (11) in the connecting section between the plurality of guide rails (14); and a vibration sensor (13); wherein the conveyor device (100) comprises fixed first and second conveyor devices (1, 2) and a third conveyor device (3, 4) with a movement mechanism (21) configured to move the guide rails (14) and the linear motor (11), wherein the third conveyor device (3, 4) is configured to convey the carriage from the first conveyor device (1, 2) to the second conveyor device (1, 2); the vibration sensor (13) is provided in a close region of the connecting section of the guide rails (14) between the third conveyor device (3, 4) and the first or second conveyor device (1, 2); wherein the controller (40) is configured or programmed to detect the travel state of the carriage (30) between the guide rails (14) based on a vibration detection result of the vibration sensor (13). [2] The conveyor device (100) of claim 1, wherein the controller (40) is configured or programmed to perform control to provide notification of the travel state based on the travel state of the carriage (30) between the guide rails (14). [3] Conveying device (100) according to claim 1 or 2, wherein the controller (40) is configured or programmed to detect the travel state of the carriage (30) between the guide rails (14) based on the electric drive power of the linear motor (11) in a connecting section between the guide rails (14) from the first conveyor device (1, 2) to the third conveyor device (3, 4) and / or a connecting section between the guide rails (14) from the third conveyor device (3, 4) to the second conveyor device (1, 2). [4] Conveying device (100) according to one of claims 1 to 3, wherein the vibration sensor (13) is provided in the third conveyor device (3, 4). [5] Conveying device (100) according to one of claims 1 to 4, wherein The first conveyor device (1, 2) and the second conveyor device (1, 2) each comprise a plurality of conveyor modules (10) with the guide rails (14) and the linear motor (11); wherein the plurality of conveyor modules (10) are connected in series with one another; and the controller (40) is configured or programmed to detect the travel state of the carriage (30) between the guide rails (14) based on the vibration or the electric drive power of the linear motor (11) in a connecting section between the guide rails (14) of the plurality of conveyor modules (10) which are connected in series with one another. [6] Conveyor device (100) according to one of claims 1 to 5, wherein the controller (40) is configured or programmed to provide notification of the travel state of the carriage (30) between the guide rails (14) when the vibration or the electric drive power of the linear motor (11) in the connecting section between the guide rails (14) exceeds a predetermined threshold value. [7] Conveyor device (100) according to one of claims 1 to 6, wherein the controller (40) is configured or programmed to provide notification of the travel state of the carriage (30) between the guide rails (14) when the vibration or the electric drive power of the linear motor (11) in the connecting section between the guide rails (14) increases by a predetermined percentage from an initial state. [8] Conveyor device (100) according to one of claims 1 to 7, wherein the carriage (30) comprises a plurality of carriages (30); and the controller (40) is configured or programmed to distinguish between each of the plurality of carriages (30) and to detect the traveling state of the carriage (30) between the guide rails (14).

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