Conveyance system

Abstract

To provide a novel improved conveyance system capable of suppressing a fall, etc. of a conveyance body.MEANS FOR SOLVING THE PROBLEM: A conveyance system comprises: a first drive mechanism which moves a third rail between a first rail and a second rail, between a relay position where a conveyance body can be relayed from the first rail to the second rail and a retreat position where relay cannot be performed; a movable stopper; a second drive mechanism which moves the movable stopper between a prevention position for preventing movement of the conveyance body and an allowable position; a first control part which controls the first drive mechanism so that the third rail is moved between the relay position and the retreat position; and a second control part which controls the second drive mechanism so that the movable stopper is moved between the prevention position and the allowance position. The second control part controls the second drive mechanism so that the movable stopper is moved from the allowance position to the prevention position according to an external signal, and the first control part controls the first drive mechanism so that the third rail is moved from the relay position to the retreat position after the movable stopper is moved to the prevention position.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a transport system. [Background technology]

[0002] Conventionally, there has been known a conveying system in which a section that can be dropped off is provided in the rail on which a traveling carriage moves, and in an emergency or the like, the section drops off to form a gap into which a fire shutter can enter (see, for example, Patent Document 1). With this conveying system, for example, at a location where the rail of the conveying system passes, the fire shutter can be closed in a state where it intersects with the rail without interfering with the rail. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 6-1232 Summary of the Invention [Problem to be solved by the invention]

[0004] A conveyance system in which a conveyance object moves along a rail due to gravity (its own weight) can also employ a configuration in which a gap is provided in the rail as described above, but in that case, it is undesirable for the conveyance object to fall off the rail through the gap.

[0005] Therefore, one of the objects of the present invention is to construct a new and improved conveying system in which a conveying body carrying an article moves along a rail by gravity, and when a gap as described above is provided in part of the rail, it is possible to avoid untoward situations such as the conveying body falling. [Means for solving the problem]

[0006] The conveying system of the present invention includes, for example, a first rail along which a conveyor for conveying an article moves due to gravity, a second rail along which the conveyor moves due to gravity, a third rail along which the conveyor moves due to gravity, the third rail being movable between an intermediate position that relays the conveyor from the first rail to the second rail and a retreat position that forms a gap between the first rail and the second rail, a first drive mechanism that moves the third rail between the intermediate position and the retreat position, a movable stopper that is movable between a blocking position that prevents the conveyor from moving from the first rail to the third rail and an allowing position that allows the conveyor to move from the first rail to the third rail, and The system comprises a second drive mechanism that moves the movable stopper between the blocking position and the allowable position, a first control unit that controls the first drive mechanism so that the third rail moves between the relay position and the retracted position, a second control unit that controls the second drive mechanism so that the movable stopper moves between the blocking position and the allowable position, and a signal receiving unit that receives an external signal output from an external device, wherein the second control unit controls the second drive mechanism in response to the external signal so that the movable stopper moves from the retracted position to the blocking position, and the first control unit controls the first drive mechanism so that the third rail moves from the relay position to the retracted position after the movable stopper moves to the blocking position. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an exemplary schematic side view showing a part of a transport system according to a first embodiment and a plurality of transport objects transported by the transport system. [Figure 2] FIG. 2 is an exemplary schematic side view of the transport system of the first embodiment, showing a state in which the movable rail is in a closed position (relay position). [Figure 3] FIG. 3 is an exemplary schematic side view of the transport system of the first embodiment, showing a state in which the movable rail is in the open position (blocking position). [Figure 4]FIG. 4 is an exemplary schematic plan view of the transport system according to the first embodiment. [Figure 5] FIG. 5 is an exemplary schematic front view of the transport system of the first embodiment. [Figure 6] FIG. 6 is an enlarged view of a portion of FIG. 5, showing the movable stopper in an inoperative state. [Figure 7] FIG. 7 is an enlarged view of a part of FIG. 5, showing the operating state of the movable stopper. [Figure 8] FIG. 8 is a control block diagram of the transport system according to the first embodiment. [Figure 9] FIG. 9 is a flowchart illustrating an example of a control procedure for the operation of the third rail by the transport system according to the first embodiment. [Figure 10] FIG. 10 is an exemplary schematic side view illustrating a part of the transport system according to the second embodiment and an example of a transported object dropped from the third rail by the transport system. DETAILED DESCRIPTION OF THE INVENTION

[0008] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments described below, as well as the actions and results (effects) obtained from the configurations, are merely examples. The present invention can also be realized by configurations other than those disclosed in the following embodiments. Furthermore, according to the present invention, it is possible to obtain at least one of the various effects (including derivative effects) obtained by the following configurations.

[0009] In this specification, ordinal numbers may be assigned for convenience to distinguish directions, parts, positions, parts, mechanisms, members, etc. Note that ordinal numbers do not necessarily indicate priority or order, nor do they specify numbers.

[0010] Arrows indicating directions are drawn in each figure. The X, Y, and Z directions intersect each other and are approximately perpendicular. The Z direction is approximately aligned vertically upward, while the X and Y directions intersect the up-down direction and are approximately aligned horizontally. The D1 direction is the longitudinal direction of the rail 10, the movement direction of the conveying body 200, and can also be referred to as the conveying direction. The Y direction is the width direction of the rail 10 and can also be referred to as the lateral direction. The D2 direction is the direction intersecting the D1 and Y directions and approximately perpendicular to them, and is the height direction of the rail 10.

[0011] [First embodiment] [Transport system overview] FIG. 1 is a side view showing a transport system 100A (100) of the first embodiment and a plurality of transport bodies 200 moving along a rail 10A (10).

[0012] The conveyance system 100 includes a rail 10 that forms a track along which the conveyance body 200 moves. The rail 10 is inclined downward (opposite to the Z direction) toward one side of its longitudinal direction (direction D1). The conveyance body 200 has rollers (not shown in FIG. 1) that can roll along the rail 10. In this configuration, gravity acting on the conveyance body 200, i.e., its own weight, causes the rollers to roll along the inclined rail 10, thereby moving the conveyance body 200 along the rail 10 in the direction D1. The inclination angle of the rail 10 with respect to the horizontal direction is, for example, approximately 3°, but is not limited to this.

[0013] Rail 10 is installed, for example, in a state suspended from the ceiling of a building. Rail 10 has first rail 11 and second rail 12 fixed in an inclined position, and third rail 13 as a movable rail. Third rail 13 is configured to be movable between a closed position Pc between first rail 11 and second rail 12 and an open position Po out of the gap between first rail 11 and second rail 12. Note that in the present embodiment, as an example, third rail 13 is configured to be rotatable about a rotation axis Ax approximately along the Y direction between the closed position Pc and the open position Po and to move along an arc-shaped trajectory, but is not limited thereto, and may move along a trajectory other than an arc-shaped trajectory, for example.

[0014] When third rail 13 is positioned in closed position Pc, first rail 11, third rail 13, and second rail 12 are connected in a substantially straight line with a small gap between them to form a series of rails 10. First rail 11, second rail 12, and third rail 13 positioned in closed position Pc are each inclined downward in the longitudinal direction (direction D1). In this configuration, conveyance body 200 can move from first rail 11 to second rail 12 via third rail 13 positioned in closed position Pc. In other words, in closed position Pc, third rail 13 can relay conveyance body 200 from first rail 11 to second rail 12. Closed position Pc is an example of a relay position.

[0015] On the other hand, when third rail 13 is in open position Po, a gap G is formed between first rail 11 and second rail 12. When third rail 13 is in open position Po, a movable member M, such as a fire shutter, enters gap G. A path Pt of movable member M passes through gap G between first rail 11 and second rail 12. The open position Po of third rail 13 is set so as not to interfere with path Pt. The open position Po is an example of a retracted position.

[0016] With this configuration, even in a location where the rail 10 is provided, the third rail 13, which is a part of the rail 10, can be temporarily retracted to the open position Po, forming a gap G in a part of the rail 10, and the movable member M can pass through the gap G. As described above, the movable member M is, for example, a fire shutter, but is not limited to this. Furthermore, the moving direction of the movable member M is, for example, downward (the direction opposite to the Z direction), but is not limited to this, and the movable member M may move upward (in the Z direction), sideways (in the Y direction or the direction opposite to the Y direction), or in another direction.

[0017] The conveying body 200 has a movable body 201 supported on the rail 10 so as to be movable in the longitudinal direction thereof, and a support member 202 detachably connected to the movable body 201. The support member 202 has a bag portion 202a that supports the article A. The bag portion 202a has a strip-like, cloth-like shape with a substantially constant width in the Y direction, extends downward from the upper end, folds back at the lower end, and extends back to the upper end, thereby supporting the article A in an enveloping manner at least from the front, lower, and rear in the conveying direction. Note that at least the lower part of the bag portion 202a may be provided with a movement limiting portion such as gathers that limits the movement of the article A laterally, i.e., in the width direction.

[0018] [Specific examples of transport systems] 2 and 3 are side views of the conveyance system 100A (100), viewed in the opposite direction to that of Fig. 1. Fig. 2 shows the third rail 13 in a state where it is positioned at the closed position Pc, and Fig. 3 shows the third rail 13 in a state where it is positioned at the open position Po.

[0019] As shown in FIGS. 2 and 3, the conveyance system 100 includes a rail 10, a rail drive mechanism 20, a movable member sensor 50, a conveyed body sensor 40, and a moving body sensor 60.

[0020] [Rail drive mechanism] The rail drive mechanism 20, whose operation is controlled by a control device 110 (see FIG. 8 ), described below, moves the third rail 13 between a closed position Pc ( FIG. 2 ) and an open position Po ( FIG. 3 ). As an example, the rail drive mechanism 20 has a body 21, a rod 22, and a rotating member 23. The body 21 and the rod 22 constitute, for example, an air cylinder or an electric cylinder, and the rod 22 is supported on the body 21 so that the protruding length of the rod 22 can be changed. The rotating member 23 is supported by a stay 101 fixed to the second rail 12 so as to be rotatable about a rotation axis Ax. The rotating member 23 is fixed to the third rail 13. An end of the body 21 opposite to the rod 22 is supported by the stay 101 so as to be rotatable about a rotation axis Ax1, and an end (tip) of the rod 22 opposite to the body 21 and the rotating member 23 are connected so as to be rotatable about a rotation axis Ax2. The rotation axes Ax, Ax1, and Ax2 all extend substantially along the Y direction. In this configuration, as the protruding length of the rod 22 relative to the body 21 changes, the rotating member 23 rotates around the rotation axis Ax, and the third rail 13 can move between the closed position Pc shown in FIG. 2 and the open position Po shown in FIG. 3. In the example of FIGS. 2 and 3, the protruding length of the rod 22 relative to the body 21 in FIG. 2 is longer than the protruding length of the rod 22 relative to the body 21 in FIG. 3. Note that the support structure of the rail drive mechanism 20 via the stay 101 is not limited to the above-described configuration. Furthermore, the rail drive mechanism 20 is not limited to the configuration including a link mechanism having the above-described multiple rotation axes Ax, Ax1, and Ax2. The rail drive mechanism 20 is an example of a first drive mechanism.

[0021] [Moving part sensor] The movable member sensor 50 detects movement of the movable member M on the path Pt toward the third rail 13 or the gap G. For this reason, the movable member sensor 50 is provided between the initial position of the movable member M before it is actuated (before it is moved) and the third rail 13 or the gap G. In this embodiment, a configuration is exemplified in which the movable member M approaches the third rail 13 or the gap G downward (in the opposite direction to the Z direction) from the initial position.

[0022] As an example, the movable member sensor 50 is configured as a limit switch having a body 51 and a rod 52. The body 51 is fixed to a stay 105, and the stay 105 is fixed to the stay 101. The rod 52 is supported in a protruding state by the body 51. In its initial position, the rod 52 protrudes from the body 51 substantially in the direction opposite to the direction D1, as shown by the solid line in FIG. 3 , with its tip extending into the path Pt above the third rail 13. The rod 52 is supported by the body 51 so as to be changeable from the initial position to an inclined position in the direction opposite to the direction D2 as it moves toward the tip, as shown by the two-dot chain line in FIG. 3 . The movable member sensor 50 is configured so that the connection state of an electric switch provided in the body 51 changes in response to the change of the rod 52 from the initial position to the inclined position. In this configuration, when the rod 52 is pushed down by the movable member M moving downward along the path Pt, the posture of the rod 52 changes from the initial posture to an inclined posture, and as a result, the movable member sensor 50 can detect that the movable member M has pressed the rod 52, i.e., the movement of the movable member M on the path Pt toward the third rail 13 or the gap G. Note that the support structure of the movable member sensor 50 is not limited to the configuration via the stays 101, 105 described above. The movable member sensor 50 is an example of a second sensor.

[0023] [Transport sensor] FIG. 4 is a plan view of the conveyance system 100A (100) viewed in the opposite direction to direction D2, and FIG. 5 is a front view of the conveyance system 100A (100) viewed in the opposite direction to direction D1. The conveyance sensor 40 detects the presence or absence of the conveyance 200 on the third rail 13 when the third rail 13 is in the closed position Pc. As an example, the conveyance sensor 40 is a retro-reflective photoelectric sensor and, as shown in FIGS. 2 to 5, has a light-emitting / receiving unit 41 provided on the stay 102 and a reflecting unit 42 provided on the stay 103. In this case, when there is no object to be detected, i.e., the conveyance 200, the detection light output from the light-emitting / receiving unit 41 travels along path DL1 toward the reflecting unit 42, is reflected by the reflecting unit 42, returns along path DL1 to the light-emitting / receiving unit 41, and is received. Strictly speaking, the outgoing and returning paths of the detection light on path DL1 are offset from each other. As shown in FIG. 5 , stay 102 has a generally inverted L-shape, with a portion extending from second rail 12 in the Y direction and a portion extending in the opposite direction to the D2 direction. On the other hand, stay 103 has a generally inverted L-shape, with a portion extending from first rail 11 in the Y direction and a portion extending in the opposite direction to the D2 direction. This configuration avoids interference with conveyed object 200 moving along rail 10. Furthermore, stays 102 and 103, light-emitting / receiving unit 41, and reflecting unit 42 are configured and arranged so that path DL1 is blocked by conveyed object 200 supported on third rail 13. Therefore, conveyed object sensor 40 can detect the presence or absence of conveyed object 200 on third rail 13 based on whether or not detection light is received by light-emitting / receiving unit 41. The support structure of conveyed object sensor 40 is not limited to the configuration via stays 103 and 104 described above. Furthermore, the conveyance sensor 40 may be a photoelectric sensor other than a retroreflective type, such as a transmission type, or may be a sensor other than a photoelectric sensor. The conveyance sensor 40 is an example of a first sensor.

[0024] As shown in FIG. 4, the path DL1 is configured to extend in the opposite direction to the Y direction as it extends in the opposite direction to the D1 direction. That is, the path DL1 is configured to extend along a diagonal line inclined relative to the D1 and Y directions. Furthermore, as shown in FIG. 5, the path DL1 is configured to intersect with the bag portion 202a. The bag portion 202a is a portion of the support member 202 and the conveyed body 200 that has a relatively large length (i.e., width) in the Y direction and is free of openings or other openings and where objects capable of blocking the detection light are continuously present in the Y direction. This configuration enables the conveyed body sensor 40 to more reliably detect the presence or absence of the conveyed body 200. Furthermore, this configuration allows the detectable section to be set relatively long in the D1 direction, thereby enabling detection of the conveyed body 200 located at any position on the third rail 13 having a predetermined length in the D1 direction—in other words, any position between the end of the third rail 13 in the D1 direction and the end of the third rail 13 in the opposite direction to the D1 direction. In addition, the conveying body sensor 40, together with the third rail 13, may be configured to detect the presence or absence of the conveying body 200 in section 11e (see Figure 4) of the first rail 11, which is forward in the D1 direction from the position facing the movable stopper 32, in other words, in section 11e between the movable stopper 32 and the third rail 13.

[0025] [Movable stopper] 4 and 5, the conveying system 100 is also provided with a stopper drive mechanism 30 that moves a movable stopper 32. The movable stopper 32 is a member that can prevent the conveying body 200 from moving along the rail 10. The operation of the stopper drive mechanism 30 is controlled by a control device 110 (see FIG. 8), which will be described later, to move the movable stopper 32 between a retracted position Pr (FIG. 6), which allows the conveying body 200 to move, and a protruding position Pp (FIG. 7), which prevents the movement. FIGS. 6 and 7 are enlarged views of the vicinity of the rail 10 in FIG. 5, with FIG. 6 showing the movable stopper 32 in an inoperative state and FIG. 7 showing the movable stopper 32 in an operative state.

[0026] As an example, the stopper drive mechanism 30 is configured by a linear solenoid actuator having a body 31 and a movable stopper 32 configured as a rod. The body 31 is fixed to a stay 104. As shown in FIG. 4, the stay 104 is attached to the first rail 11 so as to cover the first rail 11 in direction D2. The movable stopper 32 is supported by the body 31 so that its protruding length can be changed. The movable stopper 32 can move between a retracted position Pr shown in FIG. 6 and a protruding position Pp shown in FIG. 7. When the movable stopper 32 is located at the protruding position Pp in FIG. 7, it prevents the conveyance body 200 from moving in the direction D1. On the other hand, when the movable stopper 32 is located at the retracted position Pr in FIG. 6, it allows the conveyance body 200 to move in the direction D1.

[0027] As shown in FIG. 4, the movable stopper 32 is provided at a position facing the first rail 11. That is, when the movable stopper 32 is located at the protruding position Pp, the transported body 200 supported on the first rail 11 is prevented from moving forward in the direction D1 from the movable stopper 32. Here, the third rail 13 is located forward in the direction D1 from the first rail 11 and the movable stopper 32. That is, the movable stopper 32 prevents the transported body 200 supported on the first rail 11, which is located rearward in the direction D1 from moving toward the third rail 13. The protruding position Pp is an example of a blocking position, and the retracted position Pr is an example of a permissive position. The stopper drive mechanism is an example of a second drive mechanism.

[0028] [Moving object] As shown in FIGS. 6 and 7 , the movable body 201 has a cross-sectional shape that is approximately inverted E when viewed in the direction opposite the direction D1. The vertical wall portion 201a of the movable body 201 is separated from the side wall 10b of the rail 10, in which the slit 10a is provided, by a gap in the Y direction, and extends approximately along the direction D2. A protrusion 201b protrudes from approximately the middle of the vertical wall portion 201a in the direction opposite the Y direction toward the inside of the slit 10a. A shaft 201c extending in the Y direction within the rail 10 is attached to the protrusion 201b. The shaft 201c rotatably supports a roller 201d. The roller 201d rolls on the bottom wall 10c of the rail 10 within the rail 10 while rotating around a rotation axis Axr extending in the Y direction that approximately coincides with the central axis of the shaft 201c. This causes the movable body 201, and therefore the conveyed body 200, to move along the rail 10 in the direction D1.

[0029] 7, the movable stopper 32 positioned at the protruding position Pp abuts against a portion of the vertical wall portion 201a that is approximately midway in the up-down direction (D2 direction or Z direction) and adjacent to the protruding portion 201b. The portion with which the movable stopper 32 abuts substantially overlaps with (an extension of) the rotation axis Axr of the roller 201d in the D1 direction. If the movable stopper 32 abuts against a portion away from the rotation axis Axr, a rotational moment corresponding to the distance from the rotation axis Axr (moment arm) and the inertial force of the conveyance body 200 acts on the movable stopper 32 from the conveyance body 200 that has prevented its movement, and the load on the movable stopper 32 increases. In this regard, in the present embodiment, the movable stopper 32 comes into contact with a portion of the movable body 201 that overlaps with or is close to (an extension of) the rotation axis Axr of the roller 201d when viewed in the D1 direction (or the direction opposite to the D1 direction), and therefore the moment arm can be made smaller, and the load acting on the movable stopper 32 from the conveying body 200 when the movable stopper 32 is actuated can be reduced. From the viewpoint of reducing the load, the portion of the movable body 201 with which the movable stopper 32 comes into contact is preferably a portion closer to the rotation axis Axr than both ends of the movable body 201 in the D2 direction or the Z direction (vertical direction), the closer the portion is to the rotation axis Axr, the more preferable, and most preferably a position that overlaps with (an extension of) the rotation axis Axr in the D1 direction.

[0030] [Mobile sensor] As shown in FIG. 7, when the movable stopper 32 is in an activated state, i.e., when the movable stopper 32 is positioned at the protruding position Pp, the mobile object sensor 60 detects a mobile object 201 (hereinafter simply referred to as a stopped mobile object 201) whose movement is prevented by the movable stopper 32. The stopped mobile object 201 is adjacent to the movable stopper 32 in the opposite direction D1. As an example, the mobile object sensor 60 is a retro-reflective photoelectric sensor, and as shown in FIGS. 4 to 7, has a light-emitting / receiving unit 61 and a reflecting unit 62 provided on the stay 104. In this case, when there is no object to be detected, i.e., the stopped mobile object 201, the detection light output from the light-emitting / receiving unit 61 travels along a path DL2 toward the reflecting unit 62, is reflected by the reflecting unit 62, returns along the path DL2 to the light-emitting / receiving unit 61, and is received. Strictly speaking, the outward and return paths of the detection light on the path DL2 are offset from each other. In this configuration, the stay 104, the light emitting / receiving unit 61, and the reflecting unit 62 are configured and arranged so that the path DL2 is blocked by the stopped moving object 201. Therefore, the moving object sensor 60 can detect the presence or absence of the stopped moving object 201 based on the presence or absence of reception of detection light by the light emitting / receiving unit 61. Note that the support structure of the moving object sensor 60 is not limited to the configuration including the stay 104 described above. Furthermore, the moving object sensor 60 may be a photoelectric sensor other than a retro-reflective type, such as a transmission type, or may be a sensor other than a photoelectric sensor.

[0031] 4, the path DL2 is set to extend in the Y direction as it extends in the opposite direction to the D1 direction. That is, the path DL2 is set to extend along a diagonal direction inclined relative to the D1 direction and the Y direction. Furthermore, as shown in FIG. 7, the path DL2 is set to intersect with the bottom wall 201e of the moving body 201. The bottom wall 201e is a portion that is spaced apart from the lower portion of the rail 10 in the opposite direction to the D2 direction and extends in the Y direction. The bottom wall 201e is a portion of the moving body 201 that has a relatively large length (i.e., width) in the Y direction and is free of openings or the like and where objects capable of blocking the detection light are continuously present in the Y direction. This configuration enables the moving body sensor 60 to more reliably detect the presence or absence of the moving body 201 and, in turn, the conveyed body 200. The support member 202 is detachably suspended from the movable body 201 via a hook structure consisting of a hook portion 202b provided at the upper end of the support member 202 and a hook portion 201f provided at the lower end of the lower wall 201e of the movable body 201.

[0032] [Third Rail Control] FIG. 8 is a control block diagram of the control device 110 related to control of moving the third rail 13. As shown in FIG. 8, the control device 110 is configured as a computer having, for example, an arithmetic processing unit 111, a main memory unit 112, an auxiliary memory unit 113, etc. The arithmetic processing unit 111 is, for example, a processor (circuit) such as a central processing unit (CPU). The main memory unit 112 is, for example, a random access memory (RAM) or a read only memory (ROM), and the auxiliary memory unit 1130 is, for example, a solid state drive (SSD) or a hard disk drive (HDD). Note that interfaces, drivers, etc. are not shown in FIG. 8.

[0033] The arithmetic processing unit 111 has a signal receiving unit 111a, a movable member detection unit 111b, a moving body detection unit 111c, a conveyed body detection unit 111d, a stopper control unit 111e, a movable rail control unit 111f, an output control unit 111g, an input control unit 111h, etc. By operating in accordance with an installed program, the arithmetic processing unit 111 functions as the signal receiving unit 111a, the movable member detection unit 111b, the moving body detection unit 111c, the conveyed body detection unit 111d, the stopper control unit 111e, the movable rail control unit 111f, the output control unit 111g, the input control unit 111h, etc., and executes processing according to a predetermined algorithm defined in the program.

[0034] The signal receiving unit 111a acquires or determines the instruction content corresponding to the instruction signal received from a signal output device 300 different from the conveying system 100. The signal output device 300 is, for example, an alarm device that is activated in the event of a fire, earthquake, or the like, or a higher-level control device of the conveying system 100. The signal output device 300 outputs various alarm signals and signals that instruct each part to operate. The signal output device 300 is an example of an external device, and the instruction signal is an example of an external signal.

[0035] The movable member detector 111b determines whether or not the movable member M has moved toward the third rail 13 or the gap G based on the detection signal of the movable member sensor 50.

[0036] The moving body detection unit 111c determines, based on the detection signal of the moving body sensor 60, whether or not there is a moving body 201 whose movement is prevented by the movable stopper 32.

[0037] The conveyed object detector 111d determines whether or not the conveyed object 200 is present on the third rail 13 based on the detection signal of the conveyed object sensor 40.

[0038] The stopper control unit 111e controls the operation of the stopper drive mechanism 30 in accordance with a predetermined algorithm so that the movable stopper 32 moves between the retracted position Pr and the extended position Pp and is located at either the retracted position Pr or the extended position Pp. The stopper control unit 111e is an example of a second control unit.

[0039] The movable rail control unit 111f controls the operation of the rail drive mechanism 20 in accordance with a predetermined algorithm so that the third rail 13 moves between the open position Po and the closed position Pc and is located at the open position Po or the closed position Pc. The movable rail control unit 111f is an example of a first control unit.

[0040] The output control unit 111g controls the output mechanism 120 to perform a predetermined output in accordance with a predetermined algorithm. The output mechanism 120 is, for example, a speaker or buzzer that performs audio output, or a warning light or display that performs visual output.

[0041] The input control unit 111h controls the input mechanism 130 so that a predetermined input is made according to a predetermined algorithm. The input mechanism 130 is, for example, a switch, a keyboard, a touch panel, etc. The input control unit 111h acquires or determines information input by the input mechanism 130.

[0042] FIG. 9 is a flowchart showing a procedure for executing control to move the third rail 13 from the closed position Pc to the open position Po.

[0043] When the third rail 13 moves from the closed position Pc to the open position Po while the conveyance body 200 remains on the third rail 13, there is a risk that the conveyance body 200 will fall off the moving third rail 13. In this case, if the conveyance body 200 falls to a position overlapping with the path Pt, it may hinder the movement of the movable member M, which may impede the original function of the movable member M (for example, blocking an opening in a building). Furthermore, there is a risk that the article A supported by the conveyance body 200 may be damaged as the conveyance body 200 falls. In other words, it is preferable that the conveyance body 200 does not remain on the third rail 13 when moving from the closed position Pc to the open position Po.

[0044] Therefore, in this embodiment, as in S1 and S2 described above, when the signal receiving unit 111a receives an instruction signal (S1), first, the stopper control unit 111e controls the operation of the stopper drive mechanism 30 to move the movable stopper 32 from the retracted position Pr to the protruding position Pp (S2). This makes it possible to prevent the transported body 200 from moving from the first rail 11 to the third rail 13, and to prevent the transported body 200 from remaining on the third rail 13 when the third rail 13 moves from the closed position Pc to the open position Po.

[0045] In this embodiment, the operation of the third rail 13 is differentiated between an emergency and a normal state. An emergency is, for example, a case where it is preferable to move the movable member M so that it enters the gap G relatively quickly. Specifically, if the movable member M is, for example, a fire shutter that closes an opening in a building or separates a space within a building, an emergency would occur when a fire or earthquake occurs. On the other hand, a normal state is a case other than an emergency, where there is a relatively sufficient amount of time before the movable member M enters the gap G. Specifically, a normal state would occur, for example, when the operation of the conveyance system 100 is temporarily terminated at the end of a series of processes.

[0046] The movable rail control unit 111f determines whether the current state is an emergency or normal state based on, for example, an instruction signal or a signal received separately from the instruction signal (S3). Specifically, if the instruction signal contains identification information indicating whether the current state is an emergency or normal state, for example, as specific bit information, the movable rail control unit 111f can determine whether the current state is an emergency or normal state based on the identification information. On the other hand, if the signal receiving unit 111a receives an identification signal that identifies whether the current state is an emergency or normal state, separately from the instruction signal, the movable rail control unit 111f can determine whether the current state is an emergency or normal state based on the identification signal.

[0047] [Emergency control] In an emergency, S41 and S42 are executed. In S41, if the conveyed object detection unit 111d determines that the conveyed object 200 has not been detected (Yes in S41), the process proceeds to S6. In S6, the movable rail control unit 111f controls the rail drive mechanism 20 to move the third rail 13 from the closed position Pc to the open position Po. By proceeding to S6 when Yes in S41, the conveyed object 200 remains on the third rail 13, and the conveyed object 200 can be more reliably prevented from falling as the third rail 13 moves from the closed position Pc to the open position Po. Performing S41 also has the advantage of immediately proceeding to S6 when the conveyed object 200 is no longer detected, thereby moving the third rail 13 from the closed position Pc to the open position Po, and thus more quickly moving the movable member M into the gap G. Note that S41 may be started after a certain time has elapsed since the instruction signal was received in S1. In this case, the conveying body 200 can move to the second rail 12 under its own weight within the certain period of time, thereby preventing the conveying body 200 remaining on the third rail 13 from falling as the third rail 13 moves.

[0048] Furthermore, in the determination of S41, it is preferable to be able to determine that the conveyed body 200 does not remain in the above-mentioned section 11e (see FIG. 4) of the first rail 11, together with the third rail 13. This is because it is possible to prevent the conveyed body 200 that remains in section 11e from falling from section 11e or the third rail 13 when the third rail 13 moves from the closed position Pc to the open position Po.

[0049] If S41 is No, the process proceeds to S42. In S42, the elapsed time T from the reception of the instruction signal in S1 is compared with a predetermined time Td. If the elapsed time T is equal to or greater than the predetermined time Td (Yes in S42), the process proceeds to S6. If S42 is No, the process returns to S41. By using S42, a time limit can be set for the determination in S41 described above. That is, the movable rail control unit 111f can perform S6 when the predetermined time Td has elapsed from the reception of the instruction signal, regardless of whether the conveyance sensor 40 has detected the conveyance 200. If S42 were not provided, for example, if an erroneous determination (No in S41) continues in S41 due to a malfunction of the conveyance sensor 40, the process would be unable to proceed to S6. In this regard, according to the present embodiment, S6 can be performed when the predetermined time Td has elapsed, thereby avoiding such a situation. The predetermined time Td is an example of the second time.

[0050] Furthermore, the predetermined time Td can be set to be equal to or greater than the time Tx required for the conveyed body 200 to enter the second rail 12 from a position adjacent to and in front of the movable stopper 32 of the first rail 11 in the direction D1 via the third rail 13. In this case, after the movable stopper 32 is actuated, the process can proceed to S6 in a state in which it can be assumed that the conveyed body 200 located in the section 11e of the first rail 11 and on the third rail 13 has moved to the second rail 12 by its own weight. In other words, the predetermined time Td can be said to be a waiting time for the conveyed body 200 located in front of the movable stopper 32 in the direction D1 to move to the second rail 12 by its own weight after the movable stopper 32 is actuated.

[0051] For example, the time Tx can be set to a value equal to or greater than the average value + 3σ (σ: standard deviation) of the time Tm required for multiple transported bodies 200 to enter the second rail 12 via the third rail 13 from a position adjacent to and forward of the movable stopper 32 of the first rail 11 in the direction D1. In this case, this value can be obtained experimentally. The time Tx and thus the predetermined time Td may be updated based on values ​​measured and accumulated during the actual transport process. Note that, in cases where the probability that the movement of the movable member M will be hindered even if the transported body 200 falls from the third rail 13 is low, the predetermined time Td may be set shorter than the time Tx. Furthermore, when S42 is performed, S41 may be omitted. In this case, S42 is a step of waiting until the elapsed time T reaches the predetermined time Td (first time). However, as described above, performing S41 may enable a more rapid transition to S6.

[0052] 9 , in an emergency, when movable member detection unit 111b determines, based on the detection signal of movable member sensor 50, that movable member M is moving toward third rail 13 or gap G at the position of movable member sensor 50, movable rail control unit 111f controls rail drive mechanism 20 to move third rail 13 from closed position Pc to open position Po. The movement control of third rail 13 based on the detection signal of movable member sensor 50 is performed separately from S41 and S42, in other words, in parallel with S41 and S42. In this embodiment, it can be said that the movement control of third rail 13 based on the detection signal of conveyed member 200 by conveyed member sensor 40 in S41, the movement control of third rail 13 based on elapsed time T in S42, and the movement control of third rail 13 based on the detection signal of movable member sensor 50 are performed in parallel. Such a configuration and control enables a fail-safe function to be established, and in an emergency, the third rail 13 can be more reliably moved from the closed position Pc to the open position Po while preventing the conveying body 200 from falling through the gap G.

[0053] The movable member M is configured to start moving toward the third rail 13 or the gap G in response to the instruction signal. Specifically, when the control device that controls the movement of the movable member M receives the instruction signal output from the signal output device 300, it controls the drive mechanism of the movable member M so that the movable member M makes the corresponding movement. In this case, a predetermined time interval may be provided between the reception of the instruction signal and the start of movement of the movable member M.

[0054] The conveyance system 100 may also be configured so that the movable member sensor 50 detects the movable member M a predetermined time Tp after the signal output device 300 outputs an instruction signal. The predetermined time Tp can be set, for example, by adjusting the distance from the start position of the movable member M to the movable member sensor 50, the moving speed of the movable member M, and the like. By appropriately setting the predetermined time Tp, movement of the third rail 13 based on the detection signal from the movable member sensor 50 can be realized in a state in which it can be assumed that the conveyed body 200 located in the section 11e of the first rail 11 and the third rail 13 has moved to the second rail 12 by its own weight after the movable stopper 32 is activated. In other words, the predetermined time Tp can also be set as a waiting time for the conveyed body 200 located ahead of the movable stopper 32 in the D1 direction to move to the second rail 12 by its own weight after the movable stopper 32 is activated. The predetermined time Tp can also be set to be equal to or longer than the above-described time Tx. The predetermined time Tp is an example of the third time.

[0055] In an emergency, the timing at which the movable member M starts moving, the moving speed, the moving distance from the initial position to the gap G, the above-mentioned predetermined times Td, Tp, etc. can be set so that the movable member M enters the gap G after S6 is completed.

[0056] [Normal control] In the normal state (No in S3), S51 to S56 are performed. In this case, first, the process waits until time Tw has elapsed since the instruction signal was received in S1 (S51). If the conveyed object detector 111d determines that conveyed object 200 has not been detected (Yes in S52), the process proceeds to S6. Time Tw can also be set as a waiting time after the movable stopper 32 is actuated, during which conveyed object 200 positioned forward of the movable stopper 32 in the direction D1 is moved to the second rail 12 by its own weight. Time Tw can also be set to be equal to or longer than the above-mentioned time Tx. Even in the normal state, it is possible to prevent conveyed object 200 from remaining on the third rail 13 when the third rail 13 moves from the closed position Pc to the open position Po.

[0057] If the answer is No in S52, the output control unit 111g controls the output mechanism 120 to output a predetermined warning by voice or display (S53), and the input control unit 111h controls the input mechanism 130 to wait for the operator to input a cancellation instruction (S54). If the cancellation instruction is input (Yes in S55), the output mechanism 120 controls the output mechanism 120 to stop the predetermined warning by voice or display (S56). Note that if the answer is No in S55, the process returns to S54. After the warning output is stopped in S56, the process proceeds to S6. In this procedure, if the answer is No in S52, the operator inputs a cancellation instruction after confirming that there is no problem with the third rail 13 or performing work such as removing any transported object 200 remaining on the third rail 13, and S6 is performed in response to the cancellation instruction input. During normal times when there is relatively more time, it is possible to more reliably prevent the transported object 200 from falling off the third rail 13 based on the operator's confirmation. The normal procedure is not limited to the above-mentioned steps S51 to S56. Furthermore, during normal operation, the movement of the movable member M may start after step S6 is completed.

[0058] As described above, in this embodiment, after the movable stopper 32 is actuated, the third rail 13 moves from the closed position Pc to the open position Po. This makes it possible to prevent the transported body 200 from moving from the first rail 11 to the third rail 13 and falling off the rail 10 as the third rail 13 moves from the closed position Pc to the open position Po.

[0059] Furthermore, in this embodiment, the third rail 13 can be moved from the closed position Pc to the open position Po based on at least one of the detection signal of the conveyed body 200 by the conveyed body sensor 40 and the elapsed time T from the reception of the instruction signal. This makes it possible to prevent the conveyed body 200 remaining after the operation of the movable stopper 32 from falling off the rail 10 as the third rail 13 moves from the closed position Pc to the open position Po.

[0060] Furthermore, in this embodiment, the movement control of third rail 13 based on the detection signal of conveyance 200 by conveyance sensor 40, the movement control of third rail 13 based on the elapsed time T from the reception of the instruction signal, and the movement control of third rail 13 based on the detection signal of movable member M by movable member sensor 50 can be performed in parallel. This makes it possible to more reliably move third rail 13 from closed position Pc to open position Po while preventing conveyance 200 from falling through gap G.

[0061] Note that in S2, the control of moving the movable stopper 32 from the retracted position Pr to the extended position Pp is triggered by the reception of an instruction signal by the signal receiving unit 111a in S1. However, instead of this, or in parallel with this, the control may be triggered by the detection by the movable member sensor 50 of the movement of the movable member M to the third rail 13 or the gap G. In this case, it can be said that the movable member sensor 50 also functions as an external device, and the detection signal by the movable member sensor 50 also functions as an external signal. When a parallel configuration is used, a dual system can be established for the instruction signal (external signal) that triggers the operation of the movable stopper 32.

[0062] [Second embodiment] 10 is a side view showing a conveyance system 100B (100) of the second embodiment and a conveyance body 200 moving along a rail 10B (10). The conveyance system 100B of this embodiment has a similar configuration to the conveyance system 100A of the first embodiment and operates in the same manner. Therefore, according to this embodiment, the same effects as those of the first embodiment can be obtained.

[0063] However, in this embodiment, the position and rotation direction of the rotation axis Ax of the third rail 13 are different from those of the first embodiment. Specifically, in the first embodiment, the rotation axis Ax is positioned closer to the second rail 12 than to the first rail 11, and as the third rail 13 moves from the closed position Pc to the open position Po, the end of the third rail 13 closer to the first rail 11 is farther away from the rail 10 than the end of the third rail 13 closer to the second rail 12. In contrast, in this embodiment, the rotation axis Ax is positioned closer to the first rail 11 than to the second rail 12, and as the third rail 13 moves from the closed position Pc to the open position Po, the end of the third rail 13 closer to the second rail 12 is farther away from the rail 10 than the end of the third rail 13 closer to the first rail 11. This configuration also achieves the same effects as the first embodiment. Note that in both this embodiment and the first embodiment, the angle of inclination of the third rail 13 with respect to the X direction (horizontal direction) in the open position Po is greater than the angle of inclination of the third rail 13 with respect to the X direction in the closed position Pc.

[0064] Furthermore, in this embodiment, in S6 (see FIG. 9 ), the movable rail control unit 111f controls the third rail 13 to temporarily stop or decelerate at position Pi, where the third rail 13 is inclined at an angle between the angle of inclination with respect to the X direction at the closed position Pc and the angle of inclination with respect to the X direction at the open position Po, midway from the closed position Pc to the open position Po. In this case, the third rail 13 is temporarily maintained at the inclination angle or an angle close to the inclination angle. As a result, if the conveyed body 200 remains in section 11e of the third rail 13 or the first rail 11, the conveyed body 200 can be dropped to a position off the path Pt, thereby preventing the dropped conveyed body 200 from interfering with the movement of the movable member M along the path Pt. Note that position Pi can be said to be a position where the inclination angle allows the conveyed body 200 to be dropped from the third rail 13 to a position off the path Pt.

[0065] While the embodiments of the present invention have been described above, they are merely examples and are not intended to limit the scope of the invention. The above embodiments can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, the specifications of each configuration, shape, and the like (structure, type, direction, model, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be appropriately modified and implemented. [Explanation of symbols]

[0066] 11...First rail 12...Second rail 13...Third rail 20...Rail drive mechanism (first drive mechanism) 30...Stopper drive mechanism (second drive mechanism) 32... Movable stopper 40...Transport sensor (first sensor) 50... Movable member sensor (second sensor, external device) 100, 100A, 100B...Transport system 111a...Signal receiving unit 111e...Stopper control unit (second control unit) 111f... Movable rail control unit (first control unit) 200...Transport body 300...Signal output device (external device) A...Goods M: Movable part Pc...closed position (relay position) Po...Open position (reserve position) Pp…Protrusion position (blocking position) Pr...Retracted position (allowable position) Td: Predetermined time (first hour, second hour) Tp…Predetermined time (third time) X…direction (horizontal direction)

Claims

1. a first rail along which a carrier for transporting an article moves by gravity; a second rail on which the carrier moves due to gravity; a third rail along which the transport body moves by gravity, the third rail being movable between a relay position where the transport body is relayed from the first rail to the second rail and a retreat position where a gap is formed between the first rail and the second rail; a first drive mechanism that moves the third rail between the relay position and the retreat position; a movable stopper movable between a blocking position that blocks the transport body from moving from the first rail to the third rail and an allowing position that allows the transport body to move from the first rail to the third rail; a second drive mechanism that moves the movable stopper between the blocking position and the allowing position; a first control unit that controls the first drive mechanism so that the third rail moves between the relay position and the retreat position; a second control unit that controls the second drive mechanism so that the movable stopper moves between the blocking position and the allowing position; a signal receiving unit that receives an external signal output from an external device; Equipped with the second control unit controls the second drive mechanism in response to the external signal so that the movable stopper moves from the allowing position to the blocking position; The first control unit controls the first drive mechanism so that the third rail moves from the relay position to the retracted position after the movable stopper moves to the blocking position.

2. 2. The conveying system according to claim 1, wherein the first control unit controls the first drive mechanism so that the third rail moves from the relay position to the evacuation position when a first time has elapsed since the signal receiving unit received the external signal.

3. a first sensor capable of detecting the presence or absence of the transported object on the third rail when the third rail is located at the relay position; The conveying system described in claim 1, wherein the first control unit controls the first drive mechanism to move the third rail from the relay position to the waiting position when it is determined that the conveyed body is not on the third rail based on the detection signal of the first sensor after the movable stopper has moved to the blocking position.

4. The conveying system described in claim 3, wherein the first control unit controls the first drive mechanism so that the third rail moves from the relay position to the waiting position when a second time has elapsed since the signal receiving unit received the external signal, regardless of whether the first sensor detects the conveyed body.

5. a second sensor that detects movement of the movable member toward the third rail or the gap; A conveying system described in any one of claims 2 to 4, wherein the first control unit controls the first drive mechanism so that the third rail moves from the relay position to the waiting position when the movement of the movable member is determined based on the detection signal of the second sensor.

6. the movable member starts moving toward the third rail or the gap in response to the external signal; The transport system according to claim 5 , wherein the second sensor detects the movement of the movable member when a third time has elapsed since the external signal was output.

7. the third rail moves from the relay position toward the retreat position so that the inclination angle with respect to the horizontal direction increases, 2. The conveying system according to claim 1, wherein the first control unit controls the first drive mechanism so that the third rail temporarily stops or decelerates while moving from the relay position to the evacuation position at an inclination angle between the inclination angle at the relay position and the inclination angle at the evacuation position.

8. a second sensor that detects movement of the movable member toward the third rail or the gap; 2. The conveying system according to claim 1, wherein when the movement of the movable member is detected by the second sensor, the second control unit controls the second drive mechanism so that the movable stopper moves from the allowable position to the blocking position, regardless of whether the external signal is input to the second control unit.

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