Transport System

Abstract

To provide a conveyance system which can be easily operated and freely varied in stroke.SOLUTION: The conveyance system comprises: first and second pulleys 11 and 12 variable in interval distance between themselves; a timing belt 13 laid between the first and second pulleys 11 and 12 and variable in lying length correspondingly to a change of the interval distance; a guide rail 14 variable in length; a conveyance unit 20 slid on the guide rail 14 by the interval distance; first and second positioning sensors 31 and 32 for detecting the position of the conveyance unit 20; first and second inventory sensors 41 and 42 for detecting the presence / absence of a workpiece P placed on the conveyance unit 20; a drive motor 15 that moves the conveyance unit 20; and a control device 50 that controls the drive motor 15 so as to stop the conveyance unit 20.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] For example, Patent Document 1 discloses a carriage transport mechanism that includes a carriage for carrying an object to be transported, an endless belt to which the carriage is attached, a motor that transmits rotational force to the endless belt, and a guide member that moves the carriage back and forth. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-81673 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the configuration of Patent Document 1 requires a computer to run a program to control the carriage transport mechanism, which requires specialized knowledge. Also, if you want to change the transport stroke, you need a dedicated transport system, which is custom-made, expensive, and has a long delivery time. In other words, there is a demand for a transport system that can be operated without specialized knowledge and that allows the transport stroke to be freely changed. [Means for solving the problem]

[0005] The conveying system includes a first pulley and a second pulley, the distance between which is variable, a timing belt that is bridged between the first pulley and the second pulley and the length of which is variable in response to a change in the distance, a guide rail whose length is variable in a direction along the distance, in response to a change in the distance, a conveying unit that is fixed to the timing belt and slides along the guide rail over the distance, and on which an object to be conveyed can be placed, a first positioning sensor that is disposed at a first position closer to the first pulley of the first pulley and the second pulley and detects the position of the conveying unit, and a first positioning sensor that is disposed in front of the first pulley and the first pulley. The system includes a second positioning sensor arranged at a second position closer to the second pulley and detecting the position of the transport unit, a first load sensor arranged corresponding to the first position and detecting the presence or absence of the transported object placed on the transport unit, a second load sensor arranged corresponding to the second position and detecting the presence or absence of the transported object placed on the transport unit, a drive motor that rotates the first pulley or the second pulley to move the transport unit, and a control device that controls the drive motor to move the position of the transport unit and stop the transport unit at the first position and the second position. [Brief description of the drawings]

[0006] [Figure 1] FIG. 1 is a schematic diagram showing a configuration of a transport system. [Diagram 2] FIG. 4 is a schematic diagram showing an operation pattern of the transport unit. [Diagram 3] 4 is a flowchart showing the operation of the transport system. [Figure 4] FIG. 4 is a perspective view showing a transport operation of the transport system. [Diagram 5] FIG. 4 is a perspective view showing a transport operation of the transport system. [Figure 6] FIG. 4 is a perspective view showing a transport operation of the transport system. [Figure 7A] FIG. [Figure 7B] FIG. [Figure 7C] FIG. [Figure 7D] FIG. [Figure 8] FIG. 4 is a perspective view showing a transport operation of the transport system. [Figure 9] FIG. 13 is a diagram showing an example of data to be accumulated. [Figure 10] FIG. 1 is a perspective view showing a configuration of a data transfer system. [Figure 11] FIG. [Figure 12] FIG. 4 is a cross-sectional view showing the configuration of a guide rail. [Figure 13] FIG. [Figure 14] FIG. [Figure 15] FIG. [Figure 16] FIG. 4 is a cross-sectional view showing the configuration of a guide rail. [Figure 17] FIG. 2 is a perspective view showing a configuration of a transport unit. [Figure 18] FIG. 4 is a side view showing the configuration of the transport unit. [Figure 19A] FIG. [Figure 19B] FIG. 4 is a cross-sectional view showing the configuration of a transport unit. [Figure 19C] FIG. 4 is a cross-sectional view showing the configuration of a transport unit. [Figure 20] FIG. 2 is a perspective view showing a configuration of a transport unit. [Figure 21] FIG. 4 is a perspective view showing a configuration of a belt adjustment unit. [Figure 22] FIG. 4 is a perspective view showing a configuration of a belt adjustment unit. [Diagram 23] FIG. 4 is a cross-sectional view showing a configuration of a belt adjustment unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] First, the configuration of a transfer system 100 of the present embodiment will be described with reference to FIG.

[0008] In the following figures, the three mutually orthogonal axes are referred to as the X-axis, Y-axis, and Z-axis. The direction along the X-axis is referred to as the "X-direction", the direction along the Y-axis is referred to as the "Y-direction", and the direction along the Z-axis is referred to as the "Z-direction", with the arrow direction being the + direction and the direction opposite the + direction being the - direction. Note that the +Z direction is sometimes referred to as "up" or "upward" and the -Z direction as "down" or "downward", and the view from the +Z direction is also referred to as a planar view or planar. Additionally, the surface on the +Z side will be described as the top surface, and the opposite surface on the -Z side will be described as the bottom surface.

[0009] 1, the conveying system 100 is for conveying a workpiece P as a conveyed object, and includes a first pulley 11, a second pulley 12 arranged at a predetermined interval from the first pulley 11, and a timing belt 13 bridged between the first pulley 11 and the second pulley 12. The timing belt 13 is a circular belt.

[0010] The first pulley 11 and the second pulley 12 are arranged so that the distance between them (hereinafter referred to as the distance) can be changed. The length of the timing belt 13 that is bridged can be changed according to the distance between the first pulley 11 and the second pulley 12. A method for adjusting the length of the timing belt 13 will be described later.

[0011] A transport unit 20, which slides between the first pulley 11 and the second pulley 12 and can carry a workpiece P, is fixed to the timing belt 13. The transport unit 20 has a stage 21 on which the workpiece P is placed on the upper portion.

[0012] Further, a guide rail 14 for guiding the movement of the transport unit 20 is provided on the inside of the circular timing belt 13 between the first pulley 11 and the second pulley 12. The guide rail 14 is, for example, a cylindrical round bar, and is provided so that its length can be changed along the direction of the spacing distance in response to changes in the spacing distance. A method for adjusting the length of the guide rail 14 will be described later.

[0013] The transport unit 20 is provided with a guide portion 22 that slides on the outer periphery of the guide rail 14 below the stage 21. The guide portion 22 slides along the guide rail 14, thereby making it possible to move the transport unit 20 between the first pulley 11 and the second pulley 12.

[0014] In addition, the conveying unit 20 has a light-shielding plate 23, which is a plate-shaped portion having a width along the movement direction, arranged below the guide portion 22 for detection by the first positioning sensor 31 and the second positioning sensor 32 described later.

[0015] A first positioning sensor 31 for detecting the position of the transport unit 20 is disposed below the guide rail 14 at a first position on the side closer to the first pulley 11 of the first pulley 11 and the second pulley 12. Further, a second positioning sensor 32 for detecting the position of the transport unit 20 is disposed below the guide rail 14 at a second position on the side closer to the second pulley 12 of the first pulley 11 and the second pulley 12.

[0016] The first positioning sensor 31 and the second positioning sensor 32 are, for example, photosensors equipped with a light emitting element and a light receiving element (neither shown). The first positioning sensor 31 or the second positioning sensor 32 is capable of detection when light is blocked by the light blocking plate 23 of the transport unit 20. In other words, detection is possible when the light blocking plate 23 passes over the positioning sensors 31, 32.

[0017] Located above the guide rail 14 are a first presence sensor 41 which detects the presence or absence of a workpiece P placed on the stage 21 of the transport unit 20 at the first position, and a second presence sensor 42 which detects the presence or absence of a workpiece P placed on the stage 21 of the transport unit 20 at the second position.

[0018] A drive motor 15 for moving the transport unit 20 by the interval distance is attached to the first pulley 11. Note that the drive motor 15 is not limited to being attached to the first pulley 11, and may be attached to the second pulley 12.

[0019] In addition, the drive motor 15 is electrically connected to the control device 50. The control device 50 has a driver 51 that drives the drive motor 15, and a controller 52 that controls various sensors. For example, when the first positioning sensor 31 detects the light shielding plate 23 while the transport unit 20 is moving, the controller 52 instructs the driver 51 to stop the rotation of the drive motor 15. The driver 51 stops the drive of the drive motor 15.

[0020] The control device 50 has an input unit 53 as an input device. For example, selection buttons (not shown) as a selection unit are arranged in the input unit 53. The controller 52 starts the operation of the transport unit 20 in response to the selection button that is selected.

[0021] Next, the operation patterns of the transport unit 20 will be described with reference to Fig. 2. The transport system 100 of this embodiment has, for example, four operation patterns for moving the transport unit 20. For example, four selection buttons corresponding to the four patterns are arranged on the input unit 53. For example, when one selection button is pressed, the transport unit 20 operates according to a first operation pattern described later.

[0022] The first movement pattern is, for example, a movement in which a worker at a first position passes a workpiece A to a worker at a second position.

[0023] Specifically, first, the transport unit 20 waits at the first position. Next, a worker at the first position places work A on the stage 21 of the transport unit 20. When the first presence sensor 41 detects the work A, the transport unit 20 moves to the second position. This allows the worker at the second position to receive the work A. Next, when the second presence sensor 42 detects that the work A has been removed, the transport unit 20 moves to the first position. Thereafter, the same operation is repeated.

[0024] The second movement pattern is, for example, a movement in which a worker at the second position passes workpiece A to a worker at the first position.

[0025] First, the transport unit 20 waits at the second position. Next, a worker at the second position places work A on the stage 21 of the transport unit 20. When the second presence sensor 42 detects the work A, the transport unit 20 moves to the first position. This allows the worker at the first position to receive the work A. When the first presence sensor 41 detects that the work A has been removed, the transport unit 20 moves to the second position. Thereafter, the same operation is repeated.

[0026] The third movement pattern is, for example, a movement in which a worker at a first position passes work A to a worker at a second position, and the worker at the second position passes work B to the worker at the first position.

[0027] First, the transport unit 20 waits at the first position. Next, a worker at the first position places work A on the stage 21 of the transport unit 20. When the first presence sensor 41 detects work A, the transport unit 20 moves to the second position. This allows the worker at the second position to receive work A. After that, the worker at the second position places another work B on the stage 21. When the second presence sensor 42 detects work B, the transport unit 20 moves to the first position. This allows the worker at the first position to receive another work B. The same operation is then repeated.

[0028] The fourth operation pattern is, for example, an operation in which a worker at the second position passes work A to a worker at the first position, and the worker at the first position passes work B to a worker at the second position.

[0029] First, the transport unit 20 waits at the second position. Next, a worker at the second position places work A on the stage 21 of the transport unit 20. When the second presence sensor 42 detects work A, the transport unit 20 moves to the first position. This allows the worker at the first position to receive work A. After that, the worker at the first position places another work B on the stage 21. When the first presence sensor 41 detects work B, the transport unit 20 moves to the second position. This allows the worker at the second position to receive another work B. The same operation is then repeated.

[0030] In this way, for example, by simply selecting a selection button corresponding to a desired operation pattern, an operator can operate the conveying system 100. In other words, the conveying operation can be realized without a computer or a program, which is a higher-level system.

[0031] Next, the origin return process of the transport unit 20 in the transport system 100 will be described with reference to FIGS.

[0032] Examples of cases where the origin return process of the transport unit 20 is required include the following. The origin return process is required when it is desired to restart the transport operation, for example, immediately after power is turned on, or when the transport unit 20 stops between the first positioning sensor 31 and the second positioning sensor 32 for some reason as shown in Fig. 4, or when it moves to a position other than the above and stops, or when it stops before reaching the first positioning sensor 31 as shown in Fig. 8 (in other words, when it loses synchronism). Examples of factors that are likely to cause loss of synchronism include when the workpiece P is too heavy, when the acceleration / deceleration time is short, etc.

[0033] First, in step S11, the operator inputs a stroke with some margin into the input unit 53. Specifically, if the distance between the first positioning sensor 31 and the second positioning sensor 32 is 400 mm, for example, the stroke with some margin is set to 1.5 times that distance, or 600 mm. By setting a stroke with some margin in this way, it becomes possible to reliably move the transport unit 20 to the first positioning sensor 31 or the second positioning sensor 32.

[0034] In step S12, the stage 21 is moved. Specifically, as shown in Fig. 5, a numerical value (for example, 600 mm) that is one piece of movement information is input. After that, by pressing an execute button (not shown), the driver 51 drives the drive motor 15 to move the stage 21.

[0035] In step S13, it is determined whether or not the stage 21 has stopped. Specifically, when the first positioning sensor 31 is ON (i.e., when it is detected), the controller 52 moves the process to step S14 and instructs the driver 51 to stop the stage 21. As a result, the stage 21 stops at the first position, as shown in Fig. 5. When the controller 52 determines that the first positioning sensor 31 is not ON, it determines that the origin return process has failed, and ends the flow.

[0036] In step S15, offset processing is performed using the light shielding plate 23 to register the origin of the transport unit 20. This will be described in detail with reference to Figs. 7A to 7D. As shown in Fig. 7A, the stage 21 stops in step S14. In this state, the origin of the transport unit 20 has not yet been registered. Below, an example will be described in which the width of the light shielding plate 23 is set to 15 mm.

[0037] First, the transport unit 20 is moved in the +X direction and stopped at a position where the first positioning sensor 31 is turned OFF, and the position of the first end surface 23a of the light blocking plate 23 can be obtained as shown in FIG. 7B.

[0038] Next, the transport unit 20 is moved in the -X direction to a position where the first positioning sensor 31 is ON, and then moved to the closest position where the first positioning sensor 31 is OFF, so that the position of the second end surface 23b of the light shielding plate 23 can be obtained. That is, both the first end surface 23a and the second end surface 23b are set to be OFF. In this state, the position where the transport unit 20 has moved to the center position of the width of the light shielding plate 23 (i.e., +7.5 mm) can be registered as the origin position of the transport unit 20 in the first positioning sensor 31 (see FIG. 7D). In addition, the origin position can be registered by offsetting within the range of the width of the light shielding plate 23 as long as it is a position where the positioning sensors 31 and 32 are ON.

[0039] If the first positioning sensor 31 does not turn OFF when the sensor is moved from the first end surface 23a or when the sensor is moved from the second end surface 23b, the setting is not possible and the flow ends. With the above, the offset process ends.

[0040] In step S16, the driver 51 drives the drive motor 15 to move the stage 21 in the -X direction.

[0041] In step S17, it is determined whether or not the stage 21 has stopped. Specifically, when the second positioning sensor 32 is ON (i.e., when it is detected), the controller 52 shifts the process to step S18 and instructs the driver 51 to stop the stage 21. As a result, the stage 21 stops at the second position as shown in Fig. 6. Note that when the controller 52 determines that the second positioning sensor 32 is not ON, it determines that the return to the origin has failed, and ends the flow.

[0042] Next, the position of the first end surface 23a of the light shielding plate 23 can be obtained by moving the transport unit 20 in the +X direction to the closest position where the second positioning sensor 32 is OFF. In step S15, the position (i.e., the center) that is half the width of the light shielding plate 23 from the first end surface 23a or the second end surface 23b of the light shielding plate 23 can be obtained, so in this state, it can be registered as the origin position of the transport unit 20 in the second positioning sensor 32. This ends the flow of the origin return process. This makes it possible to improve the positioning accuracy of the stage 21.

[0043] In this way, even in an inexpensive control system that does not have position feedback using an encoder or the like, the stop position of the transport unit 20 and the presence or absence of step-out are managed by the two positioning sensors 31, 32, so that costs can be reduced.

[0044] Next, data stored in the controller 52 of the transport system 100 will be described with reference to FIGS.

[0045] The data stored in the controller 52 is, for example, transport information when the workpiece P is transported, as shown in Fig. 9. Note that the data can be recorded in association with time stamp information, thereby storing accurate time information.

[0046] The data is, for example, the number of times the robot moves from the first position to the second position in a given time period, or the number of times the robot moves from the second position to the first position, as shown in Fig. 10. From these numbers, it is possible to know the transport direction with the most stops when transporting the workpiece P. In addition, by comparing the number of movements in a given time period, it is also possible to investigate the cause of the variation.

[0047] Moreover, by recording the data on the time taken to transport the work P from the first position to the second position, and conversely, the time taken to transport the work P from the second position to the first position, it is possible to predict when maintenance is required, for example, if it takes longer than a predetermined time. Also, the time taken to transport the work P from the first position to the second position and then back to the first position, i.e., the cycle time, may be recorded. This makes it possible to grasp, for example, the achievement status of a target transport quantity.

[0048] Furthermore, the time stamp information is, for example, the time when a certain action occurs and is completed and recorded. The time stamp information may be recorded every predetermined time, or every predetermined number of days. Furthermore, it may be recorded every time a transport action occurs. The time stamp information is measured within the controller 52, and is temporarily stored in the controller 52 together with data such as transport time, and the information is then transferred in response to a command from a higher-level device (such as a computer). The time may be measured when transferring the information to the higher-level device.

[0049] The number of transfers and the cycle time are measured according to the direction of the transfer operation, as shown in Fig. 10. For example, the data when moving from the first position to the second position is "Logs Data1". And the data when moving from the second position to the first position is "Logs Data2".

[0050] The accumulated data may be stored in an external storage device (such as an SD card) when the power is turned off. The accumulated data may be reset by a command from a higher-level system or manually by the controller 52.

[0051] In this way, by accumulating data and time stamp information, it is possible to calculate work efficiency by sending this information in response to commands from a host system such as a computer. This makes it possible to realize a small-scale IoT (Internet of Things) with an inexpensive configuration. It is also possible to collect production information from manual work processes and production equipment that is not connected to a host system.

[0052] Next, the configuration of the guide rail 14 and a method for adjusting the length of the guide rail 14 will be described with reference to FIGS.

[0053] As shown in FIGS. 11 and 12, the guide rail 14 includes a first guide rail 14a as a first cylindrical body, a second guide rail 14b as a second cylindrical body, and a step absorbing unit 14c.

[0054] The first guide rail 14a is formed in a cylindrical shape and has a hollow inside. The inner diameter of the first guide rail 14a is formed to be slightly larger than the outer diameter of the second guide rail 14b. The second guide rail 14b is also formed in a cylindrical shape and has a hollow inside, similar to the first guide rail 14a. In addition, as shown in FIG. 12, the cross-sectional shape of the first guide rail 14a and the second guide rail 14b is, for example, an octagon.

[0055] Due to such a dimensional relationship between the first guide rail 14a and the second guide rail 14b, it is possible to insert the second guide rail 14b into the first guide rail 14a, as shown in Fig. 13. Note that in order to suppress wobbling between the first guide rail 14a and the second guide rail 14b (as well as wobbling in the rotational direction), it is preferable to eliminate the gap between the first guide rail 14a and the second guide rail 14b as much as possible.

[0056] As shown in Fig. 14, the step absorbing unit 14c is formed in a cylindrical octagonal shape to match the shapes of the first guide rail 14a and the second guide rail 14b. Also, as shown in Figs. 14 to 16, the step absorbing unit 14c has a first outer diameter portion 14c3 that corresponds to the outer diameter dimension of the first guide rail 14a and a second outer diameter portion 14c4 that corresponds to the outer diameter dimension of the second guide rail 14b. The slope portion connecting the first outer diameter portion 14c3 to the second outer diameter portion 14c4 becomes the cylindrical portion 14c1.

[0057] 14, the step absorbing unit 14c has a hook 14c2 provided on a first outer diameter portion 14c3, and the hook 14c2 is fitted to an end portion of the first guide rail 14a, thereby fixing the step absorbing unit 14c to the first guide rail 14a. In this state, the second guide rail 14b can be stored inside the first guide rail 14a via the step absorbing unit 14c.

[0058] With this structure, as shown in Fig. 13, when adjusting the guide rail 14 to be shorter, the first guide rail 14a and the second guide rail 14b are adjusted to a first guide rail length (not shown) where they overlap at a first length. When adjusting the length of the guide rail 14 to be longer, the guide rail 14 is adjusted to a second guide rail length (not shown) where they overlap at a length shorter than the first length. This allows the length of the guide rail 14 to be freely changed in the extension / contraction direction. In other words, the length over which the workpiece P is transported can be easily changed.

[0059] 15 and 16, the second guide rail 14b is fixed so as not to slide by tightening the screw 14d from the outside of the first guide rail 14a. In other words, after adjusting the length by which the second guide rail 14b is pulled out from the first guide rail 14a to determine the desired length of the guide rail 14, the first guide rail 14a and the second guide rail 14b are fixed by tightening the screw 14d, and the guide rail 14 adjusted to the desired length is completed.

[0060] Next, the configuration of the transport unit 20 will be described with reference to FIGS.

[0061] 17 and 18, the transport unit 20 includes a frame 22a to which the stage 21 is attached, two guide plates 22b1 and 22b2 arranged inside the frame 22a, and eight rollers 22c arranged inside the two guide plates 22b1 and 22b2. The guide rail 14 is arranged in the area surrounded by the eight rollers 22c (see FIG. 19A).

[0062] The two guide plates 22b1, 22b2 include a first guide plate 22b1 arranged on one side 22a1 of the frame 22a, and a second guide plate 22b2 arranged on the other side 22a2 of the frame 22a. The first guide plate 22b1 and the second guide plate 22b2 are supported on the frame 22a by, for example, three pins 22d each. A spring 22e is inserted around the outer periphery of the pin 22d between the two guide plates 22b1, 22b2 and the frame 22a. As a result, the two guide plates 22b1, 22b2 are biased toward the guide rail 14 by the biasing force of the spring 22e.

[0063] Of the eight rollers 22c, four rollers 22c are arranged such that two rollers 22c of the same height are arranged below the first guide plate 22b1, and two rollers 22c of the same height are arranged above the first guide plate 22b1. Of the remaining four rollers 22c, two rollers 22c of the same height are arranged below the second guide plate 22b2, and two rollers 22c of the same height are arranged above the second guide plate 22b2.

[0064] At one end of each roller 22c, a slope 22c1 (see FIG. 18) is formed to guide a flat portion 14a1 (see FIG. 19B) of the guide rail 14 having an octagonal cross section. That is, the transport unit 20 is disposed so as to be smoothly movable in the extending direction of the guide rail 14 by the eight rollers 22c supporting the flat portions 14a1, 14b1 (see FIG. 19B and FIG. 19C) of the guide rail 14.

[0065] Furthermore, because the eight rollers 22c are biased in the direction of the guide rail 14, they are able to pinch the outer periphery of the guide rail 14 and support it with almost no gaps. Furthermore, as shown in Figures 19A, 19B, and 19C, even if the size of the cross section of the guide rail 14 that they support changes, the eight rollers 22c can support the guide rail 14 with almost constant force and without gaps due to the biasing force of the springs 22e.

[0066] 19A to 19C show the operation of the transport unit 20 moving the first guide rail 14a and the second guide rail 14b when the length of the guide rail 14 is adjusted. When moving the first guide rail 14a, as shown in FIG. 19B, the length of the spring 22e becomes a first bending length L1, so that the first guide rail 14a can be supported by the rollers 22c. When moving the second guide rail 14b, as shown in FIG. 19C, the length of the spring 22e becomes a second bending length L2 that is longer than the first bending length L1, so that the second guide rail 14b can be supported by the rollers 22c.

[0067] Furthermore, when the transport unit 20 passes through the step absorbing unit 14c of the guide rail 14, the roller 22c is urged toward the guide rail 14 by the urging force of the spring 22e, so that the guide rail 14 can be supported with almost no gap between the roller 22c and the guide rail 14. In other words, the transport unit 20 can run on the guide rail 14 without any rattling.

[0068] 20, the first guide plate 22b1 is preferably provided with an elliptical hole 22b3 that can move the positions of the two lower rollers 22c in the vertical direction according to the diameters of the first guide rail 14a and the second guide rail 14b. The second guide plate 22b2 is preferably configured in the same manner.

[0069] Next, the configuration of the belt adjustment unit 25 will be described with reference to Fig. 21 to Fig. 23. Note that the conveying system 100a shown in Fig. 21 to Fig. 23 has a timing belt 13 arranged in a direction different from that of the conveying system 100 described above.

[0070] As shown in Figures 22 and 23, the belt adjustment section 25 is provided with a pull-out hole 25a in the frame 22a of the conveying unit 20, through which the timing belt 13 is pulled out to the outside of the conveying unit 20, and a winding roller 25b that winds up the pulled-out timing belt 13.

[0071] When the length of the guide rail 14 is adjusted according to the length of the transport unit 20, if the timing belt 13 has excess length, the excess timing belt 13a is wound up by the winding roller 25b. This allows the length of the timing belt 13 to be adjusted to a level that does not wobble.

[0072] As described above, the conveying system 100 includes the first pulley 11 and the second pulley 12, the mutual distance of which can be changed, the timing belt 13, which is bridged between the first pulley 11 and the second pulley 12 and the length of which can be changed in response to changes in the distance, the guide rail 14, the length of which can be changed in response to changes in the distance, the conveying unit 20, which is fixed to the timing belt 13 and slides along the guide rail 14 over the distance of the first pulley 11 or the second pulley 12, and on which a workpiece P can be placed, the first positioning sensor 31, which is disposed at a first position closer to the first pulley 11 of the first pulley 11 and the second pulley 12, and which detects the position of the conveying unit 20, and the second positioning sensor 31, which is disposed at a first position closer to the first pulley 11 than the second pulley 12, and which detects the position of the conveying unit 20. The conveying unit 20 is equipped with a second positioning sensor 32 that is arranged at a second position closer to the second pulley 12 of the first pulley 11 and the second pulley 12 and detects the position of the conveying unit 20, a first presence sensor 41 that is arranged corresponding to the first position and detects the presence or absence of a work P placed on the conveying unit 20, a second presence sensor 42 that is arranged corresponding to the second position and detects the presence or absence of a work P placed on the conveying unit 20, a drive motor 15 that rotates the first pulley 11 or the second pulley 12 to move the conveying unit 20, and a control device 50 that controls the drive motor 15 to move the position of the conveying unit 20 and stop the conveying unit 20 at the first position and the second position.

[0073] According to this configuration, a host system, such as a computer and a program, is not required to transport the work P between the first pulley 11 and the second pulley 12, so the transport system 100 can be controlled without specialized knowledge. Also, since it is possible to vary the distance between the first pulley 11 and the second pulley 12, the length of the timing belt 13, the length of the guide rail 14, and the like according to the moving distance of the work P, the transport stroke can be freely adjusted relatively easily. In addition, since an encoder is not required, the associated costs can be reduced.

[0074] It is also preferable that the control device 50 includes an input unit 53 for inputting movement information for moving the interval distance, and moves the transport unit 20 to the side of the second pulley 12 based on the movement information, has the second positioning sensor 32 detect the presence or absence of the transport unit 20, moves the transport unit 20 to the side of the first pulley 11 based on the movement information, has the first positioning sensor 31 detect the presence or absence of the transport unit 20, and executes the origin return process of the transport unit 20. According to this configuration, the origin return process of the transport unit 20 is performed by executing each process based on the movement information, so that a reset can be performed if the transport unit 20 does not operate normally or an error occurs.

[0075] Moreover, the input unit 53 preferably has a selection button for selecting an operation pattern of the transport unit 20. According to this configuration, by selecting an operation pattern, it is possible to perform a desired operation according to the application, such as moving the transport system 100 from the side of the first pulley 11 to the side of the second pulley 12, or moving it from the side of the second pulley 12 to the side of the first pulley 11.

[0076] Moreover, it is preferable that the transport unit 200 includes a light shielding plate 23 having a width along the movement direction, and the first positioning sensor 31 and the second positioning sensor 32 are capable of detecting the end faces 23a, 23b and the center of the light shielding plate 23. With this configuration, since the end faces 23a, 23b and the center of the light shielding plate 23 can be detected, the stop position of the transport unit 200 can be corrected by taking into account information on the width of the light shielding plate 23. In other words, the origin of the transport unit 200 can always be obtained.

[0077] In addition, it is preferable that the control device 50 accumulates data recording the operation of the transport unit 20 and time stamp information when the data was acquired. With this configuration, by acquiring data such as the transport time and the number of transports between the first pulley 11 and the second pulley 12 at predetermined intervals, it is possible to grasp the operating status of the transport system 100, such as predicting the timing of maintenance and checking the work efficiency.

[0078] Moreover, the guide rail 14 includes a first guide rail 14a and a second guide rail 14b that can be inserted into the first guide rail 14a, and the length of the guide rail 14 preferably has a first guide rail length where the first guide rail 14a and the second guide rail 14b overlap at a first length, and a second guide rail length where the first guide rail 14a and the second guide rail 14b overlap at a length shorter than the first length. With this configuration, the length of the guide rail 14 can be changed according to the amount by which the second guide rail 14b protrudes from the first guide rail 14a, so that the length can be freely adjusted to the first guide rail length or the second guide rail length according to the change in the interval distance.

[0079] It is also preferable to provide a belt adjustment unit 25 that adjusts the length of timing belt 13 according to the gap distance. With this configuration, since belt adjustment unit 25 is provided, it is possible to adjust the length of timing belt 13 according to the gap distance, and for example, it is possible to eliminate rattling between first pulley 11 and second pulley 12. Therefore, the rotation of pulleys 11, 12 can be reliably transmitted to timing belt 13.

[0080] Moreover, it is preferable that the position of the transport unit 20 is detected by the passage of the light shielding plate 23 relative to the first positioning sensor 31 and the second positioning sensor 32. According to this configuration, the position of the transport unit 20 is detected by the passage of the light shielding plate 23 relative to the positioning sensors 31, 32, so that the workpiece P can be transported to a predetermined location more reliably than in a method in which the stop position is taught. [Explanation of symbols]

[0081] 11...first pulley, 12...second pulley, 13...timing belt, 13a...excess timing belt, 14...guide rail, 14a...first guide rail as first cylindrical body, 14b...second guide rail as second cylindrical body, 14c...step absorption unit, 14a1...flat portion, 14c1...cylindrical portion, 14c2...hook, 14c3...first outer diameter portion, 14c4...second outer diameter portion, 14d...screw, 15...driving motor, 20...transport unit, 21...stage, 22...guide portion, 22a...frame, 22a1...one side, 22a2...other side, 22b1...first gas guide plate, 22b2...second guide plate, 22b3...elliptical hole, 22c...roller, 22c1...inclined surface, 22d...pin, 22e...spring, 23...light shielding plate as plate-shaped portion, 23a...first end surface, 23b...second end surface, 25...belt adjustment portion, 25a...pulling hole, 25b...winding roller, 31...first positioning sensor, 32...second positioning sensor, 41...first load sensor, 42...second load sensor, 50...control device, 51...driver, 52...controller, 53...input portion as input device, 100...conveying system, 100a...conveying system.

Claims

1. a first pulley and a second pulley whose mutual distance can be changed; a timing belt that is bridged between the first pulley and the second pulley and whose bridged length is variable in response to a change in the gap distance; a guide rail whose length is variable in a direction along the gap in response to a change in the gap; a conveying unit that is fixed to the timing belt and slides along the guide rail by the interval distance, and on which an object to be conveyed can be placed; a first positioning sensor disposed at a first position between the first pulley and the second pulley, the first positioning sensor being closer to the first pulley and configured to detect a position of the transport unit; a second positioning sensor disposed at a second position closer to the second pulley out of the first pulley and the second pulley, the second positioning sensor detecting a position of the transport unit; a first presence sensor disposed corresponding to the first position and configured to detect the presence or absence of the transported object placed on the transport unit; a second presence sensor disposed corresponding to the second position and configured to detect the presence or absence of the transported object placed on the transport unit; a drive motor that rotates the first pulley or the second pulley to move the transport unit; a control device that moves a position of the transport unit and controls the drive motor so that the transport unit stops at the first position and the second position; an input device for inputting movement information for moving the interval distance, The control device includes: moving the transport unit to the side of the second pulley based on the movement information, and detecting the presence or absence of the transport unit by the second positioning sensor; moving the transport unit to the side of the first pulley based on the movement information, and detecting the presence or absence of the transport unit by the first positioning sensor; Executing an origin return process for the transport unit; The transport system according to the present invention, wherein the input device has a selection section for selecting an operation pattern of the transport unit.

2. 2. The transport system according to claim 1, the conveying unit includes a plate-shaped portion having a width along a moving direction, A conveying system, characterized in that the first positioning sensor and the second positioning sensor are capable of detecting an end face and a center of the plate-shaped portion.

3. 3. The transport system according to claim 1 or 2, The control device stores data recording the operation of the transport unit and time stamp information indicating when the data was acquired.

4. The transport system according to any one of claims 1 to 3, The guide rail includes a first cylindrical body and a second cylindrical body that can be inserted into the first cylindrical body, A conveying system characterized in that the length of the guide rail has a first guide rail length in which the first cylinder and the second cylinder overlap at a first length, and a second guide rail length in which the first cylinder and the second cylinder overlap at a length different from the first length.

5. The transport system according to any one of claims 1 to 4, A conveying system comprising: a belt adjustment unit that adjusts the length of the timing belt in accordance with the gap distance.

6. 3. The transport system according to claim 2, A conveying system comprising: a conveying unit that performs a return to an origin when the first positioning sensor and the second positioning sensor cannot detect the plate-shaped portion at a stop position of the conveying unit.

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