Conveyor system

Abstract

To attain cost reduction in a conveyor system.SOLUTION: A conveyor system comprises a plurality of conveyor units for transferring a transfer target. The conveyor units include a first conveyor unit and a second conveyor unit connected to the first conveyor unit. The first conveyor unit comprises: a communication section 4H for communicating with a higher-level device 3 and receiving a command for transferring the transfer target; and a control section 5H for controlling the operation of the second conveyor unit in response to the command.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to conveyor systems, and more particularly to conveyor systems including a plurality of conveyor units. [Background technology]

[0002] Patent Document 1 describes a free-flow conveying system that combines multiple linear conveying devices and rotary conveying devices to set the conveying path at any angle. The linear conveying device is configured by arranging multiple unit conveying devices in a line. The rotary conveying device is installed between the multiple linear conveying devices that are arranged at any angle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-350147 Summary of the Invention [Problem to be solved by the invention]

[0004] In the free-flow transport system described in Patent Document 1, cost reduction is desired.

[0005] The present disclosure has been made in view of the above-mentioned circumstances, and aims to provide a conveyor system that can reduce costs. [Means for solving the problem]

[0006] A conveyor system according to one aspect of the present disclosure includes a plurality of conveyor units for transporting an object to be transported. The plurality of conveyor units includes a first conveyor unit and a second conveyor unit connected to the first conveyor unit. The first conveyor unit includes a communication unit that communicates with a host device and receives a command to transport the object to be transported, and a control unit that controls the operation of the second conveyor unit based on the command.

[0007] A conveyor system according to one aspect of the present disclosure includes a moving body and a conveyor unit mounted on the moving body. The conveyor unit includes a motor and a roller that rotates by the driving force of the motor and transports an object to be transported. The moving body includes a communication unit that communicates with a host device and receives a command to transport the object to be transported, and a control unit that controls the operation of the motor based on the command. [Effects of the Invention]

[0008] According to the present disclosure, costs can be reduced. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a plan view for explaining an example of use of a conveyor system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is an enlarged plan view of the conveyor system. [Figure 3] FIG. 3 is a block diagram of a first conveyor system included in the conveyor system. [Figure 4] FIG. 4 is an explanatory diagram for explaining the mechanical connection between the conveyor units in the conveyor system. [Figure 5] FIG. 5 is a block diagram of a second conveyor system included in the conveyor system. [Figure 6] FIG. 6 is a flowchart for explaining the operation of the conveyor system. [Figure 7]FIG. 7 is an explanatory diagram for explaining the mechanical connection between the conveyor units in the conveyor system of the first modification. [Figure 8] FIG. 8 is an explanatory diagram for explaining the mechanical connection between the conveyor units in the conveyor system of the second modification. [Figure 9] FIG. 9 is a block diagram of a turning unit included in the conveyor system of the third modification. [Figure 10] FIG. 10 is a plan view for explaining an example of use of the turning unit included in the conveyor system. [Figure 11] FIG. 11 is a block diagram of a lifting unit provided in a conveyor system according to the fourth modification. [Figure 12] FIG. 12 is a side view illustrating an example of use of the lifting unit provided in the conveyor system. [Figure 13] FIG. 13 is a block diagram of a free roller unit included in a conveyor system according to the fifth modification. [Figure 14] FIG. 14 is a plan view illustrating an example of use of the free roller unit included in the conveyor system. DETAILED DESCRIPTION OF THE INVENTION

[0010] A conveyor system 100 according to an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the drawings referred to in the following description are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios. Furthermore, the embodiment and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiment and modified examples. Various modifications other than these embodiment and modified examples are possible depending on the design, etc., as long as they do not deviate from the technical concept of the present disclosure.

[0011] (1) Overview First, an overview of a conveyor system 100 of this embodiment will be described with reference to FIGS.

[0012] The conveyor system 100 includes a plurality of conveyor units that transport objects to be transported.

[0013] The plurality of conveyor units includes a first conveyor unit and a second conveyor unit connected to the first conveyor unit.

[0014] The first conveyor unit includes a communication unit 4H that communicates with the higher-level device 3 and receives commands to transfer the object to be transferred, and a control unit 5H that controls the operation of the second conveyor unit based on the commands received by the communication unit 4H.

[0015] According to the above configuration, the second conveyor unit can be configured more inexpensively than the first conveyor unit because it does not have a communication function with the host device 3. Furthermore, although the second conveyor unit does not have a communication function with the host device 3, the operation of the second conveyor unit can be controlled by the first conveyor unit based on commands from the host device 3. In this way, costs can be reduced while maintaining the functionality of the conveyor system 100.

[0016] (2) Composition The configuration of the conveyor system 100 according to this embodiment will be described in detail below with reference to the drawings.

[0017] The conveyor system 100 is installed in a facility F1 such as a factory, a logistics center (including a distribution center), or a store. In the following, as shown in Figures 1 and 2, a description will be given of a case where the facility F1 into which the conveyor system 100 is installed is a factory. Note that the arrows and the characters "east," "west," "south," and "north" in the drawings indicate directions in the facility F1. These directions are not intended to limit the manner in which the conveyor system 100 is used. Furthermore, the arrows indicating the directions in the drawings are merely shown for the purpose of explanation and do not have any physical substance.

[0018] (2.1) Overall structure of the conveyor system The operation of the conveyor system 100 is controlled by commands sent from a higher-level device 3 such as a server.

[0019] The conveyor system 100 includes at least one first conveyor system 1 and at least one second conveyor system 2.

[0020] The first conveyor system 1 transfers an object to be transferred in a predetermined direction. In this embodiment, the first conveyor system 1 is described as including a roller conveyor mechanism, but may also include a belt conveyor mechanism.

[0021] The second conveyor system 2 receives the object to be transferred from the first conveyor system 1 and transfers it to another location. The second conveyor system 2 also transfers the object to be transferred from another location to the first conveyor system 1 and hands it over to the first conveyor system 1. In this embodiment, the second conveyor system 2 is described as including a roller conveyor mechanism, but it may also include a belt conveyor mechanism.

[0022] (2.2) First conveyor system The first conveyor system 1 includes a plurality of conveyor units for transporting an object to be transported. The plurality of conveyor units includes a first conveyor unit and a second conveyor unit directly or indirectly connected to the first conveyor unit.

[0023] The first conveyor unit is characterized by having a communication function with the higher-level device 3, while the second conveyor unit is characterized by not having a communication function with the higher-level device 3. In this embodiment, the first conveyor unit is a head unit H0 as shown in Fig. 3. The second conveyor unit includes a drive unit D0 and a slave unit S0.

[0024] (2.2.1) Head Unit 2 and 3, the head unit H0 includes a main body 10H, a communication unit 4H, a first control unit 5H, a second control unit 6H, a drive circuit 7H, a motorized roller RmH, free rollers RfH, a detection unit 8H, a switch SwH, a stop circuit 9H, a first connection unit C1H, a second connection unit C2H, and a power supply circuit PsH. Note that in this embodiment, the head unit H0 includes one motorized roller RmH and six free rollers RfH as shown in Fig. 2, but the numbers of motorized rollers RmH and free rollers RfH are not limited to this.

[0025] The main body 10H is formed, for example, in the shape of a rectangular parallelepiped, and holds a communication unit 4H, a first control unit 5H, a second control unit 6H, a drive circuit 7H, a motorized roller RmH, a free roller RfH, a detection unit 8H, a switch SwH, a stop circuit 9H, a first connection unit C1H, a second connection unit C2H, and a power supply circuit PsH.

[0026] The communication unit 4H is configured to be able to communicate with a higher-level device 3, such as a server. The communication unit 4H communicates with one of a plurality of repeaters installed in the facility F1 via wireless communication using radio waves as a medium. Therefore, the communication unit 4H and the higher-level device 3 communicate indirectly via at least a network such as the Internet and a repeater connected to the network. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or unlicensed low-power radio (specified low-power radio) is employed for communication between the repeater and the communication unit 4H. Furthermore, the network is not limited to the Internet, and may be, for example, a local communication network within the area where the conveyor system 100 is operated or within the operating company of this area.

[0027] The communication unit 4H receives a transfer command for transferring the transfer object from the higher-level device 3. The transfer command includes, for example, information on the current position of the transfer object and information on the position of the transfer destination of the transfer object.

[0028] The first control unit 5H is primarily configured as a computer system having, for example, one or more processors and a memory. Therefore, the functions of the first control unit 5H are realized by the one or more processors executing a program stored in the memory. The program may be pre-stored in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0029] The first control unit 5H is realized by a computer system (such as a FAPC (Factory Automation Personal Computer)) that has higher performance than a general computer system (such as a PLC (Programmable Logic Controller)) used to control equipment.

[0030] The first control unit 5H issues a control command to the second control unit 6H based on the transfer command received by the communication unit 4H from the higher-level device 3.

[0031] The second control unit 6H is mainly composed of, for example, a computer system having one or more processors and a memory. Therefore, the functions of the second control unit 6H are realized by the one or more processors executing a program stored in the memory. The program may be pre-stored in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0032] The second control unit 6H can be realized by, for example, a PLC.

[0033] The second control unit 6H transmits the detection results received from each detection unit (detection units 8H, 8D, and 8S) described below to the first control unit 5H. Based on the detection results of each detection unit, the first control unit 5H generates a control command to be given to the second control unit 6H.

[0034] The second control unit 6H controls the rotation of the motorized roller RmH via the drive circuit 7H based on a control command from the first control unit 5H. The second control unit 6H also controls the operation of the second conveyor unit connected to the head unit H0 based on a control command from the first control unit 5H.

[0035] The motorized roller RmH includes a motor MH whose rotation is controlled by a drive circuit 7H, and a roller RH that rotates in conjunction with the rotation of the motor MH.

[0036] The free rollers RfH rotate in conjunction with the motorized rollers RmH. In this embodiment, three free rollers RfH are arranged on each side of one motorized roller RmH in the longitudinal direction of the main body 10H. The rotation of one motorized roller RmH is transmitted to the six free rollers RfH by, for example, a transmission belt.

[0037] The motorized roller RmH and the free roller RfH transport the object to be transported.

[0038] The detection unit 8H is, for example, a photoelectric sensor having a light-projecting unit that emits light and a light-receiving unit 82H that receives the light emitted from the light-projecting unit 81H. The detection unit 8H can detect whether or not a transfer target is present between the light-projecting unit 81H and the light-receiving unit 82H by comparing the amount of light received by the light-receiving unit 82H with a threshold value. The light-projecting unit 81H and the light-receiving unit 82H are arranged opposite each other at both ends of the main body 10H in the short side direction. In this embodiment, the head unit H0 is equipped with multiple (for example, three) detection units 8H.

[0039] The switch SwH is, for example, a push button switch, and is provided on a side surface in the shorter direction of the main body 10H. When the switch SwH is pressed, a stop signal is sent to the stop circuit 9H.

[0040] When the stop circuit 9H receives the stop signal, it stops the rotation of the motorized roller RmH. For example, when the stop circuit 9H receives the stop signal, it opens a contact b (not shown) provided between the drive circuit 7H and the motorized roller RmH, thereby stopping the rotation of the motorized roller RmH.

[0041] The first connection portion C1H is mechanically connected to the second conveyor unit. In this embodiment, the first connection portion C1H includes a gear G1H that rotates in conjunction with a free roller RfH disposed at one end of the main body 10H in the longitudinal direction.

[0042] The second connection part C2H electrically connects to the second conveyor unit. More specifically, the second connection part C2H electrically connects the switch SwH and the second control part 6H to the second conveyor unit.

[0043] In this embodiment, the second connection portion C2H includes a connector provided on one side surface in the longitudinal direction of the main body 10H, as shown in FIG.

[0044] The power supply circuit PsH supplies power to the communication unit 4H, the first control unit 5H, the second control unit 6H, the drive circuit 7H, and the detection unit 8H. The power supply circuit PsH converts power supplied from, for example, a commercial AC power source into DC power of a value appropriate for the supply destination and supplies it. Note that the power supply path by the power supply circuit PsH is not shown in Figure 3.

[0045] (2.2.2) Drive unit 2 and 3, the drive unit D0 includes a main body 10D, a control unit 6D, a drive circuit 7D, a motorized roller RmD, free rollers RfD, a detection unit 8D, a switch SwD, a first connection part C1D, two second connection parts C21D and C22D, and a power supply circuit PsD. Note that in this embodiment, the drive unit D0 includes one motorized roller RmD and six free rollers RfD as shown in Fig. 2, but the numbers of motorized rollers RmD and free rollers RfD are not limited to this.

[0046] The main body 10D is formed, for example, in the shape of a rectangular parallelepiped, and holds a control unit 6D, a drive circuit 7D, a motorized roller RmD, a free roller RfD, a detection unit 8D, a switch SwD, a first connection part C1D, second connection parts C21D and C22D, and a power supply circuit PsD.

[0047] The control unit 6D can be realized by, for example, a PLC.

[0048] The control unit 6D controls the rotation of the motorized roller RmD via the drive circuit 7D based on a control command from the second control unit 6H of the head unit H0, which is electrically connected via the second connection unit C21D or the second connection unit C22D. The control unit 6D also transmits the detection results received from the detection unit 8D to the first control unit 5H of the head unit H0.

[0049] The motorized roller RmD includes a motor MD whose rotation is controlled by a drive circuit 7D, and a roller RD that rotates by the driving force of the motor MD.

[0050] The free rollers RfD rotate in conjunction with the motorized rollers RmD. In this embodiment, three free rollers RfD are arranged on each side of one motorized roller RmD in the longitudinal direction of the main body 10D. The rotation of one motorized roller RmD is transmitted to the six free rollers RfD by, for example, a transmission belt.

[0051] The detection unit 8D is, for example, a photoelectric sensor having a light-projecting unit 81D that emits light and a light-receiving unit 82D that receives the light emitted from the light-projecting unit 81D. The detection unit 8D can detect whether or not a transfer target is present between the light-projecting unit 81D and the light-receiving unit 82D by comparing the amount of light received by the light-receiving unit 82D with a threshold value. The light-projecting unit 81D and the light-receiving unit 82D are arranged opposite each other at both ends of the main body 10D in the short direction. In this embodiment, the drive unit D0 is equipped with multiple (for example, three) detection units 8D.

[0052] The switch SwD is, for example, a push button switch and is provided on a side surface in the shorter direction of the main body 10D. When the head unit H0 and the drive unit D0 are electrically connected via the second connection part C21D or the second connection part C22D, pressing the switch SwD sends a stop signal to the stop circuit 9H of the head unit H0. When the stop circuit 9H receives the stop signal, it stops the rotation of the motorized roller RmH of the head unit H0 and the motorized roller RmD of the drive unit D0.

[0053] The first connection portion C1D mechanically connects to another second conveyor unit. In this embodiment, the first connection portion C1D includes a gear G1D that rotates in conjunction with a free roller RfD disposed at one end of the main body 10D in the longitudinal direction.

[0054] The second connection parts C21D and C22D are electrically connected to the head unit H0 or another second conveyor unit. More specifically, the second connection parts C21D and C22D electrically connect the switch SwD and the control unit 6D to the head unit H0 or another second conveyor unit. Furthermore, the second connection parts C21D and C22D can be connected to the head unit H0 via another second conveyor unit.

[0055] In this embodiment, the second connection portions C21D and C22D include connectors provided on both longitudinal side surfaces of the main body 10D, as shown in FIG.

[0056] The power supply circuit PsD supplies power to the control unit 6 D, the drive circuit 7 D, and the detection unit 8 D. The power supply circuit PsD converts power supplied from, for example, a commercial AC power source into DC power of a value suitable for the supply destination and supplies the power.

[0057] (2.2.3) Slave unit 2 and 3, the slave unit S0 includes a main body 10S, a control unit 6S, free rollers RfS, a detection unit 8S, a switch SwS, two first connection parts C11S and C12S, two second connection parts C21S and C22S, and a power supply circuit PsS. In this embodiment, the slave unit S0 includes seven free rollers RfS as shown in FIG. 2, but the number of free rollers RfS is not limited to this.

[0058] The main body 10S is formed, for example, in the shape of a rectangular parallelepiped, and holds the control unit 6S, the free roller RfS, the detection unit 8S, the switch SwS, two first connection parts C11S and C12S, two second connection parts C21S and C22S, and the power supply circuit PsS.

[0059] The control unit 6S can be realized by, for example, a PLC.

[0060] The control unit 6S transmits the detection result received from the detection unit 8S to the first control unit 5H of the head unit H0.

[0061] The seven free rollers RfS are connected to one another by, for example, a transmission belt or the like, and rotate in conjunction with one another. The seven free rollers RfS are rotated by an external driving force and transport the object to be transported.

[0062] The detection unit 8S is, for example, a photoelectric sensor having a light-projecting unit 81S that emits light and a light-receiving unit 82S that receives the light emitted from the light-projecting unit 81S. The detection unit 8S can detect whether or not a transfer target is present between the light-projecting unit 81S and the light-receiving unit 82S by comparing the amount of light received by the light-receiving unit 82S with a threshold value. The light-projecting unit 81S and the light-receiving unit 82S are arranged opposite each other at both ends of the main body 10S in the short side direction. In this embodiment, the slave unit S0 is equipped with multiple (for example, three) detection units 8S.

[0063] The switch SwS is, for example, a push button switch, and is provided on a side surface in the shorter direction of the main body 10S. When the head unit H0 and the slave unit S0 are electrically connected via the second connection part C21S or the second connection part C22S, pressing the switch SwS sends a stop signal to the stop circuit 9H of the head unit H0. When the stop circuit 9H receives the stop signal, it stops the rotation of the motorized roller RmH.

[0064] The first connection portions C11S and C12S are mechanically connected to the head unit H0 or another second conveyor unit. In this embodiment, the first connection portion C11S includes a gear G1S that rotates in conjunction with a free roller RfS disposed at one end of the main body 10S in the longitudinal direction, and a gear G2S that rotates in mesh with the gear G1S. The rotation axis Gp1 of the gear G1S and the rotation axis Gp2 of the gear G2S are connected by a connection plate PL1 that is formed, for example, in an oval shape, as shown in FIG.

[0065] The first connection portion C12S includes a gear G3S that rotates in conjunction with a free roller RfS that is arranged at the other end in the longitudinal direction of the main body 10S.

[0066] The second connection parts C21S and C22S are electrically connected to the head unit H0 or another second conveyor unit. More specifically, the second connection parts C21S and C22S electrically connect the control unit 6S and the switch SwS to the head unit H0 or another second conveyor unit. Furthermore, the second connection parts C21S and C22S can be connected to the head unit H0 via another second conveyor unit.

[0067] In this embodiment, the second connection portions C21S and C22S are connectors provided on both longitudinal side surfaces of the main body 10S, as shown in FIG.

[0068] The power supply circuit PsS supplies power to the control unit 6S and the detection unit 8S. The power supply circuit PsS converts power supplied from, for example, a commercial AC power source into DC power of a value suitable for the supply destination and supplies the converted power.

[0069] (2.3) Second conveyor system As shown in FIGS. 1, 2 and 5, the second conveyor system 2 includes a moving body V0 and a moving body unit W0 which is a conveyor unit mounted on the moving body V0.

[0070] (2.3.1) Mobile The moving body V0 moves autonomously on a flat moving surface such as the floor of the facility F1. The moving body V0 is equipped with a storage battery PsV and operates using the electrical energy stored in the storage battery PsV.

[0071] The moving body V0 further includes a main body 10V, a communication unit 4V, a control unit 5V, a traveling device 11, a storage unit 12, a detection unit 13, a stop circuit 9V, and a connection unit C2V.

[0072] The main body 10V is formed, for example, in the shape of a rectangular parallelepiped. The moving body V0 has a plurality of wheels on the bottom of the main body 10V. The plurality of wheels include steering wheels, which are omnidirectional wheels such as omniwheels, and auxiliary wheels (driven wheels). The moving body V0 moves in a desired direction on a moving surface by driving the steering wheels.

[0073] The storage battery PsV, communication unit 4V, control unit 5V, running device 11, memory unit 12, detection unit 13 and stop circuit 9V are mounted on the main body 10V.

[0074] The communication unit 4V is configured to be able to communicate with the higher-level device 3. The communication unit 4V communicates with one of a plurality of repeaters installed in the facility F1 via wireless communication using radio waves as a medium. Therefore, the communication unit 4V and the higher-level device 3 communicate indirectly via at least a network such as the Internet and a repeater connected to the network. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or unlicensed low-power radio (specified low-power radio) is adopted for communication between the repeater and the communication unit 4V. Furthermore, the network is not limited to the Internet, and may be, for example, a local communication network within the area where the conveyor system 100 is operated or within the operating company of this area.

[0075] The communication unit 4V receives a transfer command for transferring the transfer object from the higher-level device 3. The transfer command includes, for example, information on the current position of the transfer object and information on the position of the transfer destination of the transfer object.

[0076] The control unit 5V mainly comprises, for example, a computer system having one or more processors and a memory. Therefore, the functions of the control unit 5V are realized by the one or more processors executing a program recorded in the memory. The program may be pre-recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0077] The control unit 5V controls the travel device 11, which will be described later, based on the transport command received by the communication unit 4V from the higher-level device 3. In addition, the control unit 5V issues a control command to the control unit 6W of the moving body unit W0 based on the transfer command received by the communication unit 4V from the higher-level device 3.

[0078] The traveling device 11 drives steering wheels provided on the main body 10V to make the moving body V0 travel in a desired direction.

[0079] The storage unit 12 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory, etc. The storage unit 12 stores, for example, identification information of the moving object V0 and electronic map information of the facility F1 where the moving object V0 is used.

[0080] The detection unit 13 detects the behavior of the main body 10V and the surrounding conditions of the main body 10V. In the present disclosure, "behavior" means movement, appearance, and the like. The detection unit 13 includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the main body 10V using these sensors. The detection unit 13 also includes sensors such as an image sensor (camera), a sonar sensor, radar, and LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the main body 10V using these sensors.

[0081] The detection unit 13 also has a position identification unit that identifies the position of the main body 10V, i.e., the current position of the moving body V0. As an example, the position identification unit estimates the current position based on detection information of surrounding objects by LiDAR and electronic map information of the facility F1. Note that the position identification unit may be realized using a satellite positioning system such as a GPS (Global Positioning System).

[0082] The stop circuit 9V stops the movement of the moving body V0 when it receives a stop signal from a switch SwW that the moving body unit W0 has, which will be described later.

[0083] The connection C2V electrically connects the control unit 5V, the shutdown circuit 9V and the storage battery PsV to the mobile unit W0.

[0084] (2.3.2) Mobile Unit The moving body unit W0 is mounted on top of the main body 10V of the moving body V0, as shown in Fig. 2. In other words, the moving body unit W0 moves together with the moving body V0.

[0085] 2 and 5, the movable body unit W0 includes a main body 10W, a control unit 6W, a drive circuit 7W, a motorized roller RmW, free rollers RfW, a detection unit 8W, a switch SwW, a stop circuit 9W, a first connection unit C1W, a second connection unit C2W, and a power supply circuit PsW. Note that in this embodiment, the movable body unit W0 includes one motorized roller RmW and six free rollers RfW as shown in FIG. 2, but the numbers of the motorized roller RmW and free rollers RfW are not limited to this.

[0086] The main body 10W is formed, for example, in the shape of a rectangular parallelepiped, and holds the control unit 6W, drive circuit 7W, motorized roller RmW, free roller RfW, detection unit 8W, switch SwW, stop circuit 9W, first connection part C1W, second connection part C2W, and power supply circuit PsW.

[0087] The control unit 6W can be realized by, for example, a PLC.

[0088] The control unit 6W controls the rotation of the motorized roller RmW via the drive circuit 7W based on a control command from the control unit 5V of the moving body V0, which is electrically connected via the second connection unit C2W. The control unit 6W also transmits the detection results received from the detection unit 8W to the control unit 5V of the moving body V0.

[0089] The motorized roller RmW includes a motor MW whose rotation is controlled by a drive circuit 7W, and a roller RW that rotates by the driving force of the motor MW.

[0090] The free rollers RfW rotate in conjunction with the motorized rollers RmW. In this embodiment, three free rollers RfW are arranged on each side of one motorized roller RmW in the longitudinal direction of the main body 10W. The rotation of one motorized roller RmW is transmitted to the six free rollers RfW by, for example, a transmission belt.

[0091] The motorized roller RmH and the free roller RfH transport the object to be transported.

[0092] The detection unit 8W is, for example, a photoelectric sensor having a light-projecting unit 81W that emits light and a light-receiving unit 82W that receives the light emitted from the light-projecting unit 81W. The detection unit 8W can detect whether or not a transfer target is present between the light-projecting unit 81W and the light-receiving unit 82W by comparing the amount of light received by the light-receiving unit 82W with a threshold value. The light-projecting unit 81W and the light-receiving unit 82W are arranged opposite each other at both ends of the main body 10W in the short side direction. In this embodiment, the moving body unit W0 is equipped with multiple (for example, three) detection units 8W.

[0093] The switch SwW is, for example, a push button switch, and is provided on a side surface in the shorter direction of the main body 10W. When the switch SwW is pressed while the moving body V0 and the moving body unit W0 are electrically connected via the second connection part C2W, a stop signal is sent to the stop circuit 9W of the moving body V0.

[0094] The first connection part C1W is mechanically connected to the second conveyor unit. In this embodiment, the first connection part C1W includes a gear G1W that rotates in conjunction with a free roller RfW disposed at one end of the main body 10W in the longitudinal direction.

[0095] The second connection part C2W is connected to the connection part C2V of the moving body V0, thereby electrically connecting the control part 6W, the stop circuit 9W, and the power supply circuit PsW of the moving body unit W0 to the moving body V0.

[0096] The power supply circuit PsW supplies power to the control unit 6W, the drive circuit 7W, and the detection unit 8W. The power supply circuit PsW converts the power supplied from, for example, a storage battery PsV of the moving body V0 into a value suitable for the supply destination and supplies it.

[0097] (3) Configuration example An example of the configuration of the conveyor system 100 of this embodiment will be described below.

[0098] As shown in FIG. 1, the conveyor system 100 according to this configuration example has two first conveyor systems 1 (1A, 1B) and two second conveyor systems 2 (2A, 2B).

[0099] The first conveyor systems 1A and 1B are arranged side by side in the east-west direction in the facility F1. Specifically, the first conveyor system 1A is arranged on the west side, and the first conveyor system 1B is arranged on the east side.

[0100] The first conveyor systems 1A and 1B transport objects from the west side to the east side. The object of first conveyor system 1A is an empty material box B1. After being transported by first conveyor system 1A, material box B1 is carried by worker P1 to a workbench 14 installed in facility F1, where multiple materials are kitted. Here, "kitting" refers to the process of packing multiple materials into material box B1 as a set. The object of first conveyor system 1B is material box B2, which is a kitted material box B1.

[0101] Here, a production line L1 is provided along the east-west direction on the north side of the first conveyor systems 1A and 1B. The production line L1 may include, for example, a conveyor system separate from the first conveyor systems 1A and 1B, and transports objects from the east end to the west end of the production line L1.

[0102] The materials kitted in material box B2 are used on production line L1. Specifically, material box B2 is transported from the east end to the west end of production line L1, and the materials kitted in material box B2 are used on production line L1. In other words, material box B2 becomes an empty material box B1 when it reaches the west end of production line L1.

[0103] The second conveyor system 2A transports material box B1 from the western end of production line L1 to the first conveyor system 1A and hands it over to the first conveyor system 1A. The second conveyor system 2B transports material box B2 from the first conveyor system 1B to the eastern end of production line L1 and hands it over to production line L1.

[0104] The first conveyor system 1A has, connected in order from the west side, a head unit H0 (H1), a drive unit D0 (D1), a slave unit S0 (S1), a slave unit S0 (S2), a drive unit D0 (D2), and a drive unit D0 (D3).

[0105] A specific connection state of the first conveyor system 1A will be described below.

[0106] 1 and 2, the head unit H1 and the drive unit D1 are electrically connected by connecting the second connection part C2H of the head unit H1 to the second connection part C21D of the drive unit D1. As a result, a control command from the first control part 5H of the head unit H1 is transmitted to the control part 6D of the drive unit D1 via the second control part 6H. In addition, the detection result of the detection part 8D of the drive unit D1 is transmitted to the first control part 5H via the control part 6D and the second control part 6H.

[0107] The drive unit D1 and the slave unit S1 are mechanically connected by connecting the first connection portion C1D of the drive unit D1 with the first connection portion C11S of the slave unit S1. Specifically, as shown in FIG. 4, the drive unit D1 and the slave unit S1 are mechanically connected by meshing a gear G1D of the first connection portion C1D of the drive unit D1 with a gear G2S of the first connection portion C11S of the slave unit S1. Note that by bringing the drive unit D1 and the slave unit S1 close together so that a reference surface E1 provided on the drive unit D1 comes into contact with a reference surface E2 provided on the slave unit S1, the gear G1D and the gear G2S are configured to mesh appropriately. As a result, when the motorized roller RmD and the free roller RfD of the drive unit D1 rotate, the free roller RfS of the slave unit S1 also rotates in the same direction.

[0108] 1 and 2, the drive unit D1 and the slave unit S1 are electrically connected by connecting the second connection part C22D of the drive unit D1 with the second connection part C21S of the slave unit S1. As a result, a control command from the first control part 5H of the head unit H1 is transmitted to the control part 6S of the slave unit S1 via the second control part 6H and the control part 6D of the drive unit D1. Furthermore, the detection result of the detection part 8S of the slave unit S1 is transmitted to the first control part 5H via the control part 6S, the control part 6D, and the second control part 6H.

[0109] The slave unit S1 and the slave unit S2 are mechanically connected by connecting the first connection portion C12S of the slave unit S1 with the first connection portion C11S of the slave unit S2. Specifically, the slave unit S1 and the slave unit S2 are mechanically connected by meshing the gear G3S of the first connection portion C12S of the slave unit S1 with the gear G2S of the first connection portion C11S of the slave unit S2. Note that by bringing the slave unit S1 and the slave unit S2 close together so that the reference surfaces of the slave unit S1 and S2 come into contact with each other, the gear G3S and the gear G2S are configured to mesh appropriately. As a result, when the free roller RfS of the slave unit S1 rotates, the free roller RfS of the slave unit S2 also rotates in the same direction.

[0110] 1, the slave units S1 and S2 are electrically connected by connecting the second connection portion C22S of the slave unit S1 with the second connection portion C21S of the slave unit S2. As a result, a control command from the first control unit 5H of the head unit H1 is transmitted to the control unit 6S of the slave unit S2 via the second control unit 6H, the control unit 6D, and the control unit 6S of the slave unit S1. Furthermore, the detection result of the detection unit 8S of the slave unit S2 is transmitted to the first control unit 5H via the control unit 6S of the slave unit S2, the control unit 6S of the slave unit S1, the control unit 6D, and the second control unit 6H.

[0111] 1, the slave unit S2 and the drive unit D2 are electrically connected by connecting the second connection part C22S of the slave unit S2 with the second connection part C21D of the drive unit D2. As a result, a control command from the first control part 5H of the head unit H1 is transmitted to the control part 6D of the drive unit D2 via the second control part 6H, the control part 6D of the drive unit D1, the control part 6S of the slave unit S1, and the control part 6S of the slave unit S2. In addition, the detection result of the detection part 8D of the drive unit D2 is transmitted to the first control part 5H via the control part 6D of the drive unit D2, the control part 6S of the slave unit S2, the control part 6S of the slave unit S1, the control part 6D of the drive unit D1, and the second control part 6H.

[0112] 1, the drive units D2 and D3 are electrically connected by connecting the second connection part C22D of the drive unit D2 with the second connection part C21D of the drive unit D3. As a result, a control command from the first control part 5H of the head unit H1 is transmitted to the control part 6D of the drive unit D3 via the second control part 6H, the control part 6D of the drive unit D1, the control part 6S of the slave unit S1, the control part 6S of the slave unit S2, and the control part 6D of the drive unit D2. In addition, the detection result of the detection part 8 of the drive unit D3 is transmitted to the first control part 5H via the control part 6D of the drive unit D3, the control part 6D of the drive unit D2, the control part 6S of the slave unit S2, the control part 6S of the slave unit S1, the control part 6D of the drive unit D1, and the second control part 6H.

[0113] The first conveyor system 1B has, connected in order from the west side, a slave unit S0 (S3), a slave unit S0 (S4), a slave unit S0 (S5), a drive unit D0 (D4), a drive unit D0 (D5), and a head unit H0 (H2). Note that the connection between the conveyor units in the first conveyor system 1B is the same as that in the first conveyor system 1A, and therefore will not be described here.

[0114] Next, the second conveyor systems 2A and 2B will be described.

[0115] The second conveyor system 2A has a moving body V0 (V1) and a moving body unit W0 (W1) mounted on top of a main body 10V of the moving body V1. The moving body V1 and the moving body unit W1 are electrically connected by connecting a connection part C2V of the moving body V1 to a second connection part C2W of the moving body unit W1.

[0116] The second conveyor system 2B has a moving body V0 (V2) and a moving body unit W0 (W2) mounted on top of a main body 10V of the moving body V2. The moving body V2 and the moving body unit W2 are electrically connected by connecting a connection part C2V of the moving body V2 to a second connection part C2W of the moving body unit W2.

[0117] (4) Example of operation The operation of the conveyor system 100 whose configuration is explained in "(2) Configuration Example" will be explained below with reference to FIG. 1 and the flowchart of FIG.

[0118] First, the second conveyor system 2A moves to the left end of the production line L1 based on a transport command received from the host device 3 by the communication unit 4V of the moving body V1.

[0119] Next, the second conveyor system 2A transfers the empty material box B1 that has arrived at the western end of the production line L1 to the movable unit W1. Specifically, the control unit 6W of the movable unit W1 controls the drive circuit 7W to rotate the motorized roller RmW and the free roller RfW, transferring the material box B1 from the production line L1 to the movable unit W1. At this time, the conveyor system included in the production line L1 also operates simultaneously to transfer the material box B1 from the production line L1 to the movable unit W1. Note that the transfer of the material box B1 from the production line L1 to the movable unit W1 may also be performed manually by an operator.

[0120] The second conveyor system 2A transports the material box B1 to the head unit H1 of the first conveyor system 1A based on the transport command received by the communication unit 4V of the movable body V1 from the host device 3. Next, the control unit 6W of the movable body unit W1 controls the drive circuit 7W based on the transport command (first transport command) received by the communication unit 4W from the host device 3, to rotate the motorized roller RmW and the free roller RfW. Furthermore, when the first control unit 5H of the head unit H1 detects the material box B1, for example, the detector 8H provided at the western end of the head unit H1 controls the drive circuit 7H via the second control unit 6H to rotate the motorized roller RmH and the free roller RfH. As a result, the material box B1 is transported to the head unit H1.

[0121] When the material box B1 is transferred to the head unit H1, the upper device 3 sends a transfer command (second transfer command) to the head unit H1 to transfer the material box B1 from its current position (in this case, the head unit H1) to a designated position. The second transfer command includes information about the current position of the material box B1 and the designated position as the transfer destination. In this operation example, the designated position is assumed to be the slave unit S2. The drive units D2 and D3 can independently rotate the motorized rollers RmD and free rollers RfD. In other words, although the slave unit S2, the drive units D2, and the drive units D3 are not mechanically connected, the material box B1 can be transferred from the slave unit S2 to the drive units D2 and D3 further east. Therefore, the drive units D2 and D3 can also be designated as the transfer destination of the material box B1.

[0122] When the communication unit 4H of the head unit H1 receives the second transfer command (step ST1), the first control unit 5H determines whether or not it is possible to transfer the material box B1 from the current position to the specified position based on the detection results of each detection unit (detection unit 8H of the head unit H1, detection unit 8D of the drive unit D1, detection unit 8S of the slave unit S1, detection unit 8S of the slave unit S2, detection unit 8D of the drive unit D2, and detection unit 8D of the drive unit D3).

[0123] Specifically, based on the results of each detection unit, the first control unit 5H determines whether or not there are any objects other than the material box B1 at the designated position, slave unit S2, and at drive unit D1 and slave unit S1 between head unit H1 and slave unit S2 (step ST2). If the first control unit 5H determines that there are no objects to be transferred other than the material box B1 at head unit H1, drive unit D1, slave unit S1, and slave unit S2, it determines that the material box B1 can be transferred from head unit H1 to slave unit S2.

[0124] When the first control unit 5H determines that the material box B1 can be transferred (step ST2: Yes), it controls the head unit H1, drive unit D1, slave unit S1, and slave unit S2 based on the second transfer command to transfer the material box B1 to slave unit S2 (step ST3). Specifically, the first control unit 5H controls the second control unit 6H and drive circuit 7H to rotate the motorized roller RmH and free roller RfH of the head unit H1 so that the material box B1 moves eastward. The first control unit 5H also controls the motor MD via the second control unit 6H and the control unit 6D and drive circuit 7D of the drive unit D1 to rotate the motorized roller RmD and free roller RfD of the drive unit D1 so that the material box B1 moves eastward. Here, because the gear G1D of the first connection portion C1D of drive unit D1 is meshed with the gear G2S of the first connection portion C11S of slave unit S1, the free roller RfS of slave unit S1 rotates in the same direction as the rotation of the motorized roller RmD and free roller RfD of drive unit D1. Also, because the gear G3S of the first connection portion C12S of slave unit S1 is meshed with the gear G2S of the first connection portion C11S of slave unit S2, the free roller RfS of slave unit S2 rotates in the same direction as the rotation of the free roller RfS of slave unit S1. Due to these operations, the material box B1 is transported eastward from the head unit H1.

[0125] When the detection unit 8S of the slave unit S2 at the designated position (for example, the detection unit 8S provided at the east end of the slave unit S2) detects the object to be transported (in this case, the material box B1) (step ST4: Yes), the first control unit 5H determines that the material box B1 has reached the designated position.

[0126] When the first control unit 5H determines that the material box B1 has reached the designated position, it stops the motorized rollers RmH and free rollers RfH of the head unit H1 and the motorized rollers RmD and free rollers RfD of the drive unit D1, causing the material box B1 to stop at the designated position, slave unit S2 (step ST5).

[0127] When the material box B1 is transported to the slave unit S2, the worker P1 carries the material box B1 to the workbench 14 and kits a plurality of components.

[0128] Material box B2, which is a kitted material box B1, is placed by worker P1 on, for example, slave unit S3 of first conveyor system 1B.

[0129] When the material box B2 is placed on the slave unit S3, the upper device 3 transmits a transfer command (third transfer command) to the head unit H2 to transfer the material box B2 from its current position to a designated position. The third transfer command includes information on the current position of the material box B2 and the designated position to which the material box B2 is to be transferred. In this operation example, the designated position is assumed to be the head unit H2.

[0130] When the communication unit 4H of the head unit H2 receives the third transfer command (step ST1), the first control unit 5H of the head unit H2 determines whether or not it is possible to transfer the material box B1 from the current position to the specified position based on the detection results of each detection unit (detection unit 8S of slave unit S3, detection unit 8S of slave unit S4, detection unit 8S of slave unit S5, detection unit 8D of drive unit D4, detection unit 8D of drive unit D5, and detection unit 8H of the head unit H2).

[0131] Specifically, based on the results of each detection unit, the first control unit 5H determines whether or not there are any objects other than the material box B2 at the designated position, head unit H2, and at slave unit S4, slave unit S5, drive unit D4, and drive unit D5 between slave unit S3 and head unit H2 (step ST2).If the first control unit 5H determines that there are no objects to be transferred other than the material box B2 at slave unit S3, slave unit S4, slave unit S5, drive unit D4, drive unit D5, and head unit H2, it determines that the material box B2 can be transferred from slave unit S3 to head unit H2.

[0132] When the first control unit 5H determines that material box B2 can be transferred (step ST2: Yes), it controls slave unit S3, slave unit S4, slave unit S5, drive unit D4, drive unit D5, and head unit H2 based on the third transfer command to transfer material box B2 to head unit H2 (step ST3). Specifically, the first control unit 5H rotates the motorized roller RmD and free roller RfD of drive unit D4 via the second control unit 6H, the control unit 6D of drive unit D4, and the drive circuit 7D so that material box B2 moves eastward. When the motorized roller RmD and free roller RfD of drive unit D4 rotate, the free rollers RfS of slave units S3 to S5 also rotate in the same direction. Furthermore, the first control unit 5H, via the second control unit 6H, the control unit 6D of the drive unit D5, and the drive circuit 7D, rotates the motorized roller RmD and free roller RfD of the drive unit D5 so that the material box B2 moves eastward. The first control unit 5H, via the second control unit 6H and the drive circuit 7H, rotates the motorized roller RmH and free roller RfH of the head unit H2 so that the material box B1 moves eastward. These operations cause the material box B2 to be transported eastward from the slave unit S3.

[0133] When the detection unit 8H of the head unit H2 at the designated position (for example, the detection unit 8H provided at the eastern end of the head unit H2) detects the object to be transported (in this case, the material box B2) (step ST4: Yes), the first control unit 5H determines that the material box B2 has reached the designated position.

[0134] When first control unit 5H determines that material box B2 has reached the designated position, it stops the motorized rollers RmD and free rollers RfD of drive unit D4, the motorized rollers RmD and free rollers RfD of drive unit D5, and the motorized rollers RmH and free rollers RfH of head unit H2, thereby stopping material box B2 at the designated position, head unit H2 (step ST5).

[0135] Here, in parallel with the transportation of material box B2 by first conveyor systems 1A and 1B, second conveyor system 2B (mobile body V2 and mobile body unit W2) moves to head unit H2 based on the transport command received by communication unit 4V of mobile body V2 from upper device 3.

[0136] Once material box B2 has been transported to head unit H2 by first conveyor system 1B, it is transferred to second conveyor system 2B. Specifically, with movable body unit W2 and head unit H2 of second conveyor system 2B adjacent to each other in the east-west direction, control unit 6W of movable body unit W2 controls drive circuit 7W based on a transport command (fourth transport command) received from host device 3 by communication unit 4V of movable body V2, causing motorized roller RmW and free roller RfW to rotate. Furthermore, first control unit 5H of head unit H2 rotates motorized roller RmH and free roller RfH based on the transport command (fourth transport command) received from host device 3 by communication unit 4. As a result, material box B2 is transferred from head unit H2 to second conveyor system 2B.

[0137] When the material box B2 is transferred, the second conveyor system 2B conveys the material box B1 to the east end of the production line L1 based on a conveyance command received from the upper device 3 by the communication unit 4V of the moving body V2.

[0138] When the second conveyor system 2B moves to the eastern end of the production line L1, it transfers material box B2 to the production line L1. The materials kitted in material box B2 are used in the production line L1. When material box B2 reaches the western end of the production line L1, it becomes an empty material box B1. Material box B1 is transported back to the second conveyor system 2A by the second conveyor system 2A.

[0139] (5) Variations The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Modifications of the above embodiment will be described below. In the modifications described below, components common to the above embodiment will be assigned the same reference numerals, and descriptions thereof will be omitted.

[0140] (5.1) Variation 1 In the above embodiment, as shown in Fig. 4, at the first connection portion C11S of the slave unit S0, the rotation axis Gp1 of the gear G1S and the rotation axis Gp2 of the gear G2S are connected by a connection plate PL1. Here, as shown in Fig. 7, the gear G2S may be configured to be movable around the rotation axis Gp1 of the gear G1S together with the connection plate PL1. This modified example will be described in detail assuming, as an example, a case where the slave unit S0 is mechanically connected to the drive unit D0.

[0141] In the above embodiment, the drive unit D0 and the slave unit S0 are mechanically connected by meshing the gear G1D of the first connection portion C1D of the drive unit D0 with the gear G2S of the first connection portion C11S of the slave unit S0, as shown in FIG. 4. Also, in the above embodiment, the drive unit D0 and the slave unit S0 are brought close to each other so that the reference surface E1 of the drive unit D0 and the reference surface E2 of the slave unit S0 come into contact, thereby appropriately meshing the gear G1D with the gear G2S. On the other hand, in this modification, as shown in FIG. 7, the gear G1D and the gear G2S can be appropriately meshed by adjusting the movement amount of the gear G2S around the rotation axis Gp1 according to the distance between the gear G1D and the gear G2S. This allows for a lower level of accuracy required for the distance between the slave unit S0 and other conveyor units. Furthermore, reference surfaces (reference surfaces E1 and E2 in the embodiment) that define the distance between the slave unit S0 and other conveyor units are not required.

[0142] (5.2) Variation 2 8, the first connection portion C11S of the slave unit S0 may have a gear G11S that rotates in conjunction with a free roller RfS arranged at one end of the main body 10S in the longitudinal direction, and a gear G21S that is configured to be movable in the vertical direction. The gear G21S is provided, for example, on the side surface of the moving plate PL2 that moves along a moving axis A1 extending downward from the main body 10S, so as to be rotatable about a rotation axis Gp21. This modified example will be described in detail assuming, as an example, a case in which the slave unit S0 is mechanically connected to the drive unit D0.

[0143] 8, the drive unit D0 and the slave unit S0 are mechanically connected by meshing a gear G1D provided on a first connection portion C1D of the drive unit D0 with a gear G11S provided on a first connection portion C11S of the slave unit S0 via a gear G21S. Specifically, when the drive unit D0 and the slave unit S0 are close enough that the gear G1D and the gear G11S are at a predetermined distance, the moving plate PL2 is raised along the moving axis A1, causing the gear G1D and the gear G11S to mesh with each other via the gear G21S. In this case, the second connection portion C22D of the drive unit D0 may be provided on the lower surface of the main body 10D of the drive unit D0, and the second connection portion C21S of the slave unit S0 may be provided on the upper surface of the moving plate PL2. As a result, by raising the movable plate PL2 along the movable axis A1, the gear G1D and the gear G11S can be meshed with each other via the gear G21S, and at the same time, the second connection part C22D of the drive unit D0 can be connected to the second connection part C21S of the slave unit S0.

[0144] (5.3) Variation 3 The second conveyor unit directly or indirectly connected to the first conveyor unit may include a turning unit T0 (see FIGS. 9 and 10).

[0145] The swivel unit T0 comprises a first body 101T, a second body 102T, a control unit 6T, a drive circuit 7T, a motorized roller RmT, a free roller RfT, a motor M1T, a rotating table 15, a detection unit 8T, a phase detection unit 16, a switch SwT, two second connection parts C21T, C22T and a power supply circuit PsT.

[0146] The first body 101T is formed in, for example, a rectangular parallelepiped shape and holds a control unit 6T, a drive circuit 7T, a motor M1T, a phase detection unit 16, a switch SwT, two second connection parts C21T, C22T, and a power supply circuit PsT.

[0147] The second main body 102T is formed, for example, in the shape of a rectangular parallelepiped, and holds the motorized roller RmT, the free roller RfT, and the detection unit 8T. The second main body 102T is provided above the first main body 101T via a turntable 15.

[0148] The rotating table 15 is rotated by the driving force of the motor M1T. The rotating table 15 is provided on the upper surface of the first main body 101T and supports the second main body 102T rotatably relative to the first main body 101T.

[0149] The phase detector 16 detects the rotation angle of the rotary table 15 .

[0150] The control unit 6T can be realized by, for example, a PLC.

[0151] The control unit 6T controls the rotation of the motorized roller RmT via the drive circuit 7T based on a control command from the second control unit 6H of the head unit H0, which is electrically connected via the second connection unit C21T or the second connection unit C22T. The control unit 6T also controls the rotation of the motor M1T via the drive circuit 7T based on the control command from the second control unit 6H and the detection result of the phase detection unit 16. Furthermore, the control unit 6T transmits the detection result received from the detection unit 8T to the first control unit 5H of the head unit H0.

[0152] The motorized roller RmT includes a motor MT whose rotation is controlled by a drive circuit 7T, and a roller RT that rotates by the driving force of the motor MT.

[0153] The free rollers RfT rotate in conjunction with the motorized roller RmT. In this embodiment, three free rollers RfT are arranged on each side of one motorized roller RmT along the longitudinal direction of the second main body 102T. The rotation of one motorized roller RmT is transmitted to the six free rollers RfT by, for example, a transmission belt.

[0154] The detection unit 8T is, for example, a photoelectric sensor having a light-projecting unit 81T that emits light and a light-receiving unit 82T that receives the light emitted from the light-projecting unit 81T.

[0155] The switch SwT is, for example, a push button switch, and is provided on a side surface in the shorter direction of the second main body 102T. When the head unit H0 and the swivel unit T0 are electrically connected via the second connection part C21T or the second connection part C22T, if the switch SwT is pressed, a stop signal is sent to the stop circuit 9H of the head unit H0.

[0156] The second connection parts C21T and C22T are electrically connected to the head unit H0 or another second conveyor unit. More specifically, the second connection parts C21T and C22T electrically connect the switch SwT and the control unit 6T to the head unit H0 or another second conveyor unit. Furthermore, the second connection parts C21T and C22T can be connected to the head unit H0 via another second conveyor unit.

[0157] The power supply circuit PsT supplies power to the control unit 6T, the drive circuit 7T, and the detection unit 8T. The power supply circuit PsT converts power supplied from, for example, a commercial AC power source into DC power of a value suitable for the supply destination and supplies the converted power.

[0158] The swivel unit T0 transfers the transfer object handed over from one conveyor unit to one of multiple conveyor units with different transfer directions depending on the transfer destination of the transfer object (a designated position designated by the higher-level device 3). As an example, the swivel unit T0 transfers the transfer object handed over from the drive unit D0 to either the slave unit S0 (S6) that transfers the transfer object in the east direction or the slave unit S0 (S7) that transfers the transfer object in the north direction. Specifically, when transferring the transfer object to the slave unit S6, the control unit 6T of the swivel unit T0 controls the rotation of the motor M1T to align the longitudinal direction of the second main body 102T with the east-west direction. When transferring the transfer object to the slave unit S7, the control unit 6T controls the rotation of the motor M1T to align the longitudinal direction of the second main body 102T with the north-south direction.

[0159] (5.4) Variation 4 The second conveyor unit, which is directly or indirectly connected to the first conveyor unit, may include a lifting unit J0 (see FIGS. 11 and 12).

[0160] The lifting unit J0 includes a first body 101J, a second body 102J, a control unit 6J, a drive circuit 7J, a motorized roller RmJ, a free roller RfJ, a motor M1J, a lifting mechanism 17, a detection unit 8J, a height detection unit 18, a switch SwJ, two second connection units C21J and C22J, and a power supply circuit PsJ.

[0161] The first body 101T is formed in, for example, a rectangular parallelepiped shape, and holds a control unit 6J, a drive circuit 7J, a motor M1J, a height detection unit 18, a switch SwJ, two second connection parts C21J and C22J, and a power supply circuit PsJ.

[0162] The second main body 102T is formed, for example, in a rectangular parallelepiped shape, and holds the motorized roller RmJ, the free roller RfJ, and the detector 8J. The second main body 102J is provided above the first main body 101J via the lifting mechanism 17.

[0163] The lifting mechanism 17 moves up and down by the driving force of the motor M1J. The lifting mechanism 17 supports the second main body 102J so that the second main body 102J can move up and down relative to the first main body 101J.

[0164] The height detection unit 18 detects the height of the second body 102J relative to the first body 101J.

[0165] The control unit 6J can be realized by, for example, a PLC.

[0166] The control unit 6J controls the rotation of the motorized roller RmJ via the drive circuit 7J based on a control command from the second control unit 6H of the head unit H0, which is electrically connected via the second connection part C21J or the second connection part C22J. The control unit 6J also controls the rotation of the motor M1J via the drive circuit 7J based on the control command from the second control unit 6H and the detection result of the height detection unit 18. The control unit 6J also transmits the detection result received from the detection unit 8J to the first control unit 5H of the head unit H0.

[0167] The motorized roller RmJ includes a motor MJ whose rotation is controlled by a drive circuit 7J, and a roller RJ that rotates by the driving force of the motor MJ.

[0168] The free rollers RfJ rotate in conjunction with the motorized rollers RmJ. In this embodiment, three free rollers RfJ are arranged on each side of one motorized roller RmJ along the longitudinal direction of the second main body 102J. The rotation of one motorized roller RmJ is transmitted to the six free rollers RfJ by, for example, a transmission belt.

[0169] The detection unit 8J is, for example, a photoelectric sensor having a light-emitting unit that emits light and a light-receiving unit that receives the light emitted from the light-emitting unit.

[0170] The switch SwJ is, for example, a push button switch, and is provided on a side surface in the shorter direction of the second main body 102J. When the head unit H0 and the lifting unit J0 are electrically connected via the second connection part C21J or the second connection part C22J, if the switch SwJ is pressed, a stop signal is sent to the stop circuit 9H of the head unit H0.

[0171] The second connection parts C21J and C22J are electrically connected to the head unit H0 or another second conveyor unit. More specifically, the second connection parts C21J and C22J are electrically connected to the switch SwJ. The second connection parts C21J and C22J electrically connect the control part 6J to the head unit H0 or another second conveyor unit. The second connection parts C21J and C22J can be connected to the head unit H0 via another second conveyor unit.

[0172] The power supply circuit PsJ supplies power to the control unit 6J, the drive circuit 7J, and the detection unit 8J. The power supply circuit PsJ converts power supplied from, for example, a commercial AC power source into DC power of a value suitable for the supply destination and supplies the converted power.

[0173] The lifting unit J0 transfers an object to be transferred, which has been handed over from one conveyor unit, to another conveyor unit of a different height. As an example, the lifting unit J0 transfers an object to be transferred, which has been handed over from the drive unit D0, to a slave unit S0 (S8) which is taller than the drive unit D0. Specifically, after the control unit 6J of the lifting unit J0 receives the object to be transferred from the drive unit D0, the control unit 6J controls the lifting mechanism 17 to adjust the height of the second main body 102J to the height of the slave unit S8, and transfers the object to the slave unit S8.

[0174] (5.5) Variation 5 The second conveyor unit directly or indirectly connected to the first conveyor unit may include a free roller unit K0 (see FIGS. 13 and 14).

[0175] The free roller unit K0 includes a main body 10K, free rollers RfK, and a first connection portion C1K. In this embodiment, the free roller unit K0 includes seven free rollers RfK as shown in Fig. 14, but the number of free rollers RfK is not limited to this.

[0176] The main body 10K is formed in, for example, a rectangular parallelepiped shape, and holds the free rollers RfK and the first connection portion C1K.

[0177] The seven free rollers RfK are connected to one another by, for example, a transmission belt or the like, and rotate in conjunction with one another.

[0178] The first connection part C1K is mechanically connected to the head unit H0 or another second conveyor unit. In this embodiment, the first connection part C1K includes a gear G1K that rotates in conjunction with a free roller RfK disposed at one end of the main body 10K in the longitudinal direction, and a gear G2K that rotates in mesh with the gear G1K.

[0179] Here, the free roller unit K0 may be used while mechanically connected to the second conveyor system 2, as shown in FIG. 14. The free roller unit K0 is mechanically connected to the second conveyor system 2 (moving body unit W0) to deliver and receive the package B3. Specifically, the free roller unit K0 and the moving body unit W0 are mechanically connected by meshing a gear G2K on the first connecting portion C1K of the free roller unit K0 with a gear G1W on the first connecting portion C1W of the moving body unit W0. As a result, when the motorized roller RmW and free roller RfW of the moving body unit W0 rotate, the free roller RfK of the free roller unit K0 also rotates in the same direction. With this configuration, the package B3 can be delivered and received between the free roller unit K0 and the moving body unit W0.

[0180] For example, when a package B3 is placed on the free roller unit K0 by the worker P2, the movable unit W0 mechanically connects to the free roller unit K0 and receives the package B3. The package B3 handed over from the movable unit W0 to the free roller unit K0 is then carried to the workbench 19 by the worker P2.

[0181] (5.6) Other Modifications The head unit H0 and the slave unit S0 may be mechanically connected by connecting a first connection portion C1H of the head unit H0 to a first connection portion C11S of the slave unit S0. In this case, a gear G1H of the first connection portion C1H of the head unit H0 meshes with a gear G2S of the first connection portion C11S of the slave unit S0, and in conjunction with the rotation of the motorized roller RmH and free roller RfH of the head unit H0, the free roller RfS of the slave unit S1 also rotates in the same direction.

[0182] The mechanical connection between the first conveyor unit and the second conveyor unit, and the mechanical connection between the second conveyor units are not limited to the meshing of gears described in the above embodiment (for example, the meshing of gear G1D and gear G2S), but may also be by pulleys and belts.

[0183] The first conveyor system 1 may be used, for example, in an automated production line for products. In such a case, multiple conveyor units included in the first conveyor system 1 are connected, for example, in a row. As an example, multiple assembly robots (e.g., robot arms) are arranged along the multiple conveyor units connected in a row. Base parts that form the base of a product are transported from the first conveyor unit of the first conveyor system 1 toward the last conveyor unit. In such an automated production line, multiple assembly robots assemble parts onto the base parts transported by the first conveyor system 1, thereby producing a product. Note that the supply of base parts to the first conveyor unit of the first conveyor system 1 and the transportation of products from the last conveyor unit of the first conveyor system 1 may be performed by a second conveyor system 2 including a moving body V0 and a moving body unit W0.

[0184] (6) Summary As described above, the conveyor system (100) of the first aspect includes a plurality of conveyor units that transport objects to be transported. The plurality of conveyor units includes a first conveyor unit and a second conveyor unit connected to the first conveyor unit. The first conveyor unit includes a communication unit (4H) that communicates with a higher-level device (3) and receives a command to transport the objects to be transported, and a control unit (5H) that controls the operation of the second conveyor unit based on the command.

[0185] According to this embodiment, the second conveyor unit can be constructed at a lower cost than the first conveyor unit because it does not have a communication function with the host device (3). Furthermore, although the second conveyor unit does not have a communication function with the host device (3), the operation of the second conveyor unit can be controlled by the first conveyor unit based on commands from the host device (3). In this way, costs can be reduced while maintaining the functionality of the conveyor system (100).

[0186] In the conveyor system (100) of the second aspect, the second conveyor unit in the first aspect includes a motor (MD) and rollers (RD) that rotate by the driving force of the motor (MD) and transport the object to be transported. The control unit (5H) controls the operation of the motor (MD) based on a command.

[0187] According to this aspect, the second conveyor unit can transport the object to be transported without relying on external power.

[0188] In the conveyor system (100) of the third aspect, in the first or second aspect, the plurality of conveyor units further includes a third conveyor unit connected to a second conveyor unit having a first roller (RD) that is a roller (RD). The control unit (5H) controls the operation of the third conveyor unit based on a command. The third conveyor unit has a second roller (RfS) that rotates by a driving force transmitted from an external device and transports an object to be transported. The second conveyor unit is mechanically connected to the third conveyor unit so that the second roller (RfS) can rotate in conjunction with the rotation of the first roller (RD).

[0189] According to this aspect, the third conveyor unit can transport the object to be transported by external power.

[0190] In the conveyor system (100) of the fourth aspect, in the third aspect, the second conveyor unit further includes a first gear (G1D) that rotates in conjunction with the first roller (RD). The third conveyor unit further includes a second gear (G2S) that rotates in conjunction with the second roller (RfS). The second conveyor unit is mechanically connected to the third conveyor unit such that the second roller (RfS) can rotate in conjunction with the rotation of the first roller (RD) by meshing the first gear (G1D) with the second gear (G2S).

[0191] According to this aspect, the third conveyor unit can transport the object to be transported by external power.

[0192] In a fifth aspect of the conveyor system (100), in any one of the first to fourth aspects, the first conveyor unit further includes a motor (MH) whose operation is controlled by a control unit (5H) and a first roller (RH) that rotates by the driving force of the motor (MH) and transports an object to be transported. The second conveyor unit includes a second roller (RfS) that rotates by a driving force transmitted from an external source and transports an object to be transported. The first conveyor unit is mechanically connected to the second conveyor unit so that the second roller (RfS) can rotate in conjunction with the rotation of the first roller (RH).

[0193] According to this aspect, the second conveyor unit can transport the object to be transported by external power.

[0194] In the conveyor system (100) of the sixth aspect, in the fifth aspect, the first conveyor unit further includes a first gear (G1H) that rotates in conjunction with the first roller (RH). The second conveyor unit further includes a second gear (G2S) that rotates in conjunction with the second roller (RfS). The first conveyor unit is mechanically connected to the second conveyor unit such that the second roller (RfS) can rotate in conjunction with the rotation of the first roller (RH) by meshing the first gear (G1H) with the second gear (G2S).

[0195] According to this aspect, the second conveyor unit can transport the object to be transported by external power.

[0196] In the conveyor system (100) of the seventh aspect, in any one of the first to sixth aspects, the second conveyor unit further includes a detection unit (8D, 8S) that detects whether or not an object to be transferred is present in the second conveyor unit. The control unit (5H) controls the operation of the second conveyor unit based on the detection result of the detection unit (8D, 8S).

[0197] According to this aspect, the transfer object can be transferred with high accuracy.

[0198] In the conveyor system (100) of the eighth aspect, in any one of the first to seventh aspects, the second conveyor unit includes a motor (M1T) and a turntable (15) that rotates by the driving force of the motor (M1T). A control unit (5H) controls the operation of the motor (M1T).

[0199] According to this aspect, the transfer direction of the transfer object can be changed.

[0200] In a conveyor system (100) of a ninth aspect, in any one of the first to eighth aspects, the second conveyor unit includes a motor (M1J) and a lifting mechanism (17) that moves up and down by the driving force of the motor (M1J). A control unit (5H) controls the operation of the motor (M1J).

[0201] According to this aspect, the height of the object to be transferred can be changed.

[0202] In the conveyor system (100) of the tenth aspect, in any one of the first to ninth aspects, the second conveyor unit is provided with switches (SwD, SwS), and the control unit (5H) stops the operation of the second conveyor unit when the switches (SwD, SwS) are operated.

[0203] According to this embodiment, the conveyor system (100) can be easily stopped in an emergency.

[0204] A conveyor system (100) of an eleventh aspect includes a moving body (V0) and a conveyor unit mounted on the moving body (V0). The conveyor unit includes a motor (MW) and rollers (RW) that rotate by the driving force of the motor (MW) and transport an object to be transported. The moving body (V0) includes a communication unit (4V) that communicates with a higher-level device (3) and receives a command to transport the object to be transported, and a control unit (5V) that controls the operation of the motor (MW) based on the command.

[0205] According to this embodiment, the conveyor unit can be constructed inexpensively since it does not have a communication function with the host device (3). Also, although the conveyor unit does not have a communication function with the host device (3), the operation of the conveyor unit can be controlled by the moving body (V0) based on commands from the host device (3). In this way, costs can be reduced while maintaining the functionality of the conveyor system (100).

[0206] The second to tenth aspects are not essential components of the conveyor system (100) and can be omitted as appropriate. [Explanation of symbols]

[0207] 3 Upper device 15 Rotating Platform 17 Lifting mechanism 100 Conveyor System 4H Communications Department 4V communication section 5H 1st control section 5V control section 8D Detection unit 8S detection unit G1D Gear G1H Gear G2S Gear M1J motor M1T motor MD motor MH motor MW motor RD Roller RfS Free Roller Right Roller RW Roller SwD Switch SwS Switch V0 moving object

Claims

1. a plurality of conveyor units for transporting objects to be transported; The plurality of conveyor units include: a first conveyor unit; a second conveyor unit connected to the first conveyor unit, The first conveyor unit is a communication unit that communicates with a higher-level device and receives a command to transfer the object to be transferred; a control unit that controls the operation of the second conveyor unit based on the command, Conveyor system.

2. The second conveyor unit is A motor; a roller that rotates by the driving force of the motor and transports the object to be transported; The control unit controls the operation of the motor based on the command.

10. The conveyor system of claim 1.

3. the plurality of conveyor units further includes a third conveyor unit connected to the second conveyor unit including the first roller, the control unit controls the operation of the third conveyor unit based on the command; the third conveyor unit includes a second roller that rotates by a driving force transmitted from an external device and transports the object to be transported; the second conveyor unit is mechanically connected to the third conveyor unit so that the second roller can rotate in conjunction with the rotation of the first roller; 3. The conveyor system of claim 2.

4. the second conveyor unit further includes a first gear that rotates in conjunction with the first roller; the third conveyor unit further includes a second gear that rotates in conjunction with the second roller; the second conveyor unit is mechanically connected to the third conveyor unit such that the second roller can rotate in conjunction with the rotation of the first roller by meshing the first gear with the second gear; 4. The conveyor system of claim 3.

5. The first conveyor unit is a motor whose operation is controlled by the control unit; a first roller that is rotated by the driving force of the motor and transports the object to be transported; the second conveyor unit includes a second roller that rotates by a driving force transmitted from an external device and transports the object to be transported; the first conveyor unit is mechanically connected to the second conveyor unit so that the second roller can rotate in conjunction with the rotation of the first roller; 10. The conveyor system of claim 1.

6. the first conveyor unit further includes a first gear that rotates in conjunction with the first roller; the second conveyor unit further includes a second gear that rotates in conjunction with the second roller; the first conveyor unit is mechanically connected to the second conveyor unit such that the second roller can rotate in conjunction with the rotation of the first roller by meshing the first gear with the second gear; 6. The conveyor system of claim 5.

7. the second conveyor unit further includes a detection unit that detects whether the object to be transferred is present on the second conveyor unit, The control unit controls the operation of the second conveyor unit based on the detection result of the detection unit.

10. The conveyor system of claim 1.

8. The second conveyor unit is A motor; a rotating table that rotates by the driving force of the motor, The control unit controls the operation of the motor.

10. The conveyor system of claim 1.

9. The second conveyor unit is A motor; a lifting mechanism that is raised and lowered by the driving force of the motor, The control unit controls the operation of the motor.

10. The conveyor system of claim 1.

10. the second conveyor unit includes a switch; When the switch is operated, the control unit stops the operation of the second conveyor unit.

10. The conveyor system of claim 1.

11. A moving object and a conveyor unit mounted on the moving body, The conveyor unit includes: A motor; a roller that rotates by the driving force of the motor and transports an object to be transported; The moving body is a communication unit that communicates with a higher-level device and receives a command to transfer the object to be transferred; a control unit that controls the operation of the motor based on the command, Conveyor system.

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