Conveying device

Abstract

To provide a conveyance device capable of efficiently and accurately conveying a conveyance object to a target position.SOLUTION: A lifting device 7 of a conveyance device 1 includes: a screw shaft 7b arranged along a raising / lowering direction of a conveyance object L1; a slider 7c screwed to a screw shaft; an extension member 7d mounted on the slider; a hook 31 mounted on the extension member; a raising / lowering motor 6 for raising / lowering the extension member along the screw shaft by rotating the screw shaft; a single operation lever 10 provided on the extension member 7d; and a force sensor 14 integrally provided with the operation lever. Since a configuration of the lifting device is different from a configuration where the conveyance object L1 suspended by the wire is raised / lowered by using a hoisting machine, swing of the conveyance object L1 can be suppressed even when brake is applied or a conveyance direction is changed during the conveyance.SELECTED DRAWING: Figure 1

Description

Technical Field

[0004] , , , ,

[0001] The present invention relates to a conveying device for conveying an object to be conveyed by using a traveling rail, a traversing rail, and a lifting device.

Background Art

[0002] Conventionally, a hoist crane described in Patent Document 1 is known as this type of conveying device. This hoist crane includes a hoist (winch) 11, and the hoist 11 includes a wire rope 13 having a hook 12 for suspending an object to be conveyed, and a lifting motor 14 for moving the suspended load up and down by the wire rope 13. Further, a pendant-type input operation unit 27 is suspended from the hoist 11.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since the conventional conveying device described above has a configuration in which an object to be conveyed is suspended from a hook at the tip of a wire rope, when braking or changing the conveying direction during conveyance, the object to be conveyed suspended from the wire rope will swing greatly like a pendulum due to inertia, so it is difficult to efficiently and accurately convey the object to be conveyed to the target position. Further, since the input operation unit of the conventional conveying device performs operations such as traveling, traversing, lifting, and stopping by a plurality of push buttons, every time the conveying direction is changed, the push buttons must be changed, so the operation is troublesome. Furthermore, since the time lag when changing the push buttons is large, the work efficiency is poor. Furthermore, in conventional conveying systems, the conveying system and the input operation unit are connected by a communication cable, and the relative positions of the conveying system and the input operation unit are not constant. As a result, the operator operating the input operation unit can only perceive the movement of the conveying system visually and cannot grasp it intuitively. Furthermore, conventional conveying devices rely on the on / off switching of push buttons to drive and stop each motor, making it difficult to fine-tune the conveying speed and distance. As a result, the accuracy of conveying objects to their target positions was low.

[0005] Therefore, the present invention was created to solve the above-mentioned problems, and one of its objectives is to provide a conveying device that can efficiently and accurately convey an object to be conveyed to a target position. Another objective of the present invention is to provide a conveying device that is easy to operate and improves work efficiency. Yet another objective of the present invention is to provide a conveying device that allows the user to intuitively understand the movement of the conveying device. Furthermore, another objective of the present invention is to provide a conveying device that can improve the accuracy of conveying an object to be conveyed to a target position. [Means for solving the problem]

[0006] (First invention) To achieve the above-mentioned objective, the conveying device (1) according to the first invention of this application is: The running rails (2,2) are arranged opposite each other, A traverse rail (3,3) is positioned perpendicular to the running rail (2,2) and is movable along the said running rail (2,2), A lifting device (7) is provided on the traverse rail (3,3) so as to be movable along the traverse rail (3,3) and is used to raise and lower the object to be transported (L1: Figure 1), A travel motor (4: Figure 8) for moving the traverse rail (3,3) along the travel rail (2,2), A traverse motor (5: Figure 8) for moving the lifting device (7) along the traverse rails (3,3), A transport device (1) comprising a control unit (20) for controlling a travel motor (4), a traverse motor (5), and a lifting device (7), The lifting device (7) is A screw shaft (7b: Figure 3) is positioned along the vertical direction of the object to be transported (L1), A movable member (7c, 7d) is screwed onto a screw shaft (7b), A holding part (31) is provided on the moving member (7c, 7d) for holding the object to be transported (L1: Figure 1), A lifting motor (6: Figures 1 and 8) for raising and lowering the movable members (7c, 7d) along the screw shaft (7b) by rotating the screw shaft (7b), A single operating lever (10) is provided on the moving member (7c, 7d) for indicating the direction of transport of the object to be transported (L1), It is equipped with a force sensor (14: Figures 5 and 8) which is integrated with the operating lever (10) and outputs a signal corresponding to the movement of the operating lever (10) to the control unit (20), The control unit (20) The travel motor (4), traverse motor (5), and lifting device (7) are controlled based on the signal output from the force sensor (14). death, In addition, the operating lever (10) A pressing part that can be pressed (11: Figure 5), The device is equipped with a two-stage switch (12, 13: Figure 8) that outputs a first switching signal based on a first stroke amount of the pressing portion (11), and outputs a second switching signal based on a second stroke amount greater than the first stroke amount. In addition, the control unit (20) When the first switching signal is input, at least one of the travel motor (4), traverse motor (5), and lifting motor (6) becomes operational, and when the second switching signal is input, all of the travel motor (4), traverse motor (5), and lifting devices (6,7) are stopped. It is characterized by the following. Furthermore, "to hold" means to maintain a certain state, and includes methods such as securing, supporting, clamping, and holding an object being transported.

[0007] The conveying device according to the first invention of this application does not use a hoisting machine as a lifting device, and comprises a screw shaft arranged along the lifting direction of the object to be conveyed, a movable member screwed onto the screw shaft, and a holding part provided on the movable member, and the object to be conveyed is held in the holding part, so that the shaking of the object to be conveyed during conveyance can be reduced. Therefore, according to the first invention of the present application, the object to be conveyed can be easily, efficiently and accurately conveyed to the target position.

[0008] Moreover, the conveying device according to the first invention of the present application can indicate the conveying direction by a single operation lever. Therefore, according to the first invention of the present application, the operation can be facilitated. Also, since the time lag when changing the conveying direction is small, the working efficiency can be improved.

[0009] In addition, since the operation lever of the conveying device according to the first invention of the present application is provided on the moving member that moves up and down, the operator will move in the conveying direction while operating the operation lever. Therefore, according to the first invention of the present application, the movement of the conveying device can be visually added and grasped physically.

[0010] Furthermore, in the conveying device according to the first invention of the present application, a force sensor that outputs a signal corresponding to the movement of the operation lever is provided integrally with the operation lever, and the control unit can control the traveling motor, the lateral movement motor and the lifting device based on the signal output from the force sensor. Therefore, according to the first invention of the present application, the conveying speed and the conveying distance can be finely adjusted, so that the accuracy of conveying the object to be conveyed to the target position can also be improved. Furthermore, according to the first invention of the present application, during normal operation, the object to be transported is transported by operating the pressing part of the operating lever with a first stroke amount, and in an emergency, the transport can be stopped by operating the pressing part with a second stroke amount that is greater than the first stroke amount. Therefore, according to the first invention of the present application, the device can be stopped simply by increasing the stroke amount of the pressing part of the operating lever, so the device can be stopped in an emergency more quickly than when the operation start button and the emergency stop button are arranged separately, thus increasing safety.

[0011] (Second Invention) Also, in order to achieve the above-mentioned object, the conveying device (1) according to the second invention of the present application is provided with a sensor (19: FIGS. 5 and 6) for detecting an obstacle existing in a predetermined range including the conveying direction of the object to be conveyed (L1), and the control unit (20) When the sensor (19) detects an obstacle while transporting the object to be transported (L1), the transport of the object to be transported (L1) in the transport direction is prohibited, and the transport in the transport direction in which the sensor (19) does not detect an obstacle is permitted.

[0012] The transport device according to the second invention of the present application includes a sensor that detects an obstacle existing in a predetermined range including the transport direction of the object to be transported. When the sensor detects an obstacle while transporting the object to be transported, the control unit prohibits the transport of the object to be transported in the transport direction and can permit the transport in the transport direction in which the sensor does not detect an obstacle. Therefore, according to the second invention of the present application, even when the transport stops because an obstacle exists in the transport direction, the object to be transported can be transported by selecting a transport route outside the detection range of the sensor. Thus, the object to be transported can be transported to the target position without stopping the transport operation.

[0013] (Third Invention) Further, in order to achieve the above object, the transport device (1) according to the third invention of the present application The control unit (20) Based on the data acquired from the force sensor (14), it obtains a command value to be given to the motor to be driven among the traveling motor (4), the lateral movement motor (5), and the lifting motor (6), smoothes the obtained command value, and drives the motor to be driven based on the smoothed command value.

[0014] When the vibration during the transportation of the object to be transported is transmitted to the operation lever, the accuracy of the data acquired from the force sensor provided integrally with the operation lever may decrease, and the accuracy of the motor control may decrease. However, according to the third invention of the present application, since the command value of the motor obtained based on the data acquired from the force sensor can be smoothed, the influence of vibration can be reduced, and the decrease in the accuracy of the motor control can be reduced.

[0017] (The 4 invention) Furthermore, in order to achieve the aforementioned objectives, the present application 4 The transport device (1) according to the invention is The control unit (20) The system stores a program for automatically transporting the object to be transported (L1) to a target position, and when the automatic transport switch (18: Figures 5 and 6) is turned on, it controls the travel motor (4), traverse motor (5), and lifting device (6, 7) according to the program to automatically transport the object to be transported (L1) to the target position, and the automatic transport is canceled when the operating lever (10) is operated during the automatic transport.

[0018] This application 4 According to this invention, the object to be transported can be automatically transported to the target position, thereby reducing labor and increasing transport efficiency. Furthermore, since the automatic transport can be canceled by operating the control lever during automatic transport, it is convenient.

[0019] (No. 5 (Invention of) Furthermore, in order to achieve the aforementioned objectives, the present application 5 The transport device (1) according to the invention is The operating lever (10) is It is possible to move the running rail (2) in the direction of travel, the traverse rail (3) in the traverse direction, and the moving members (7c, 7d) in the direction of elevation. The force sensor (14) is It is characterized by being a 6-axis force sensor.

[0020] This application 5 According to this invention, since the object to be transported can be transported in the direction in which the operating lever is moved, compared to systems that require operating multiple buttons for each direction, it is not necessary to look at the operating device each time an operation is performed, thus improving operability and safety. Furthermore, because the direction in which the operating lever is moved corresponds to the direction of transport, users can learn the operating technique intuitively, making it easier to acquire the necessary skills. Additionally, operating errors are less likely to occur. [Effects of the Invention]

[0021] The present invention provides a conveying device that can efficiently and accurately transport an object to be transported to a target position. Furthermore, the present invention provides a conveying device that is easy to operate and improves work efficiency. Furthermore, the present invention provides a conveying device that allows the user to intuitively understand the movement of the conveying device. Furthermore, the present invention provides a conveying device that can improve the accuracy of transporting an object to a target position. Furthermore, according to the present invention, the device can be stopped simply by increasing the stroke amount of the pressing part of the operating lever. This allows for a faster emergency stop of the device compared to systems where the start button and emergency stop button are separately located, thereby enhancing safety. [Brief explanation of the drawing]

[0022] [Figure 1] This is a perspective view of a transport device according to an embodiment of the present invention, viewed from the upper right. [Figure 2] Figure 1 is a perspective view of the conveying device shown, taken from the upper left. [Figure 3] Figure 1 is a front view of the conveying device. [Figure 4] Figure 1 is a left side view of the conveying device shown. [Figure 5] This is a magnified view of the operating lever provided on the conveying device shown in Figure 1. [Figure 6] Figure 1 is an explanatory diagram of the traveling mechanism provided in the conveying device shown. [Figure 7] Figure 1 is an explanatory diagram of the traversing device provided in the conveying device shown. [Figure 8] Figure 1 is an explanatory diagram showing the main electrical configuration of the conveying device in block form. [Figure 9] This is a flowchart showing the flow of the main routine executed by the CPU of the control unit installed in the transport device shown in Figure 1. [Figure 10] This flowchart shows the flow of the transport process that the CPU executes in step 2 (S2) of Figure 9. [Figure 11] This flowchart shows the flow of timer interrupt processing that the CPU executes in step 3 (S3) of Figure 9. [Figure 12]This is an explanatory diagram showing a transport device according to another embodiment of the present invention, with some parts omitted. [Modes for carrying out the invention]

[0023] A transport device according to an embodiment of the present invention will be described with reference to the drawings. [Main components] As shown in Figures 1 to 4, the conveying device 1 of this embodiment includes a pair of running rails 2, 2 for conveying the object to be conveyed L1 in the front-to-back direction, a pair of traverse rails 3, 3 for conveying the object to be conveyed L1 in the left-to-right direction, and a lifting device 7 for conveying the object to be conveyed L1 in the up-to-down direction. The running rails 2, 2 are arranged parallel to each other and facing each other. The traverse rails 3, 3 are also parallel to each other and facing each other, and are arranged so as to be horizontally perpendicular to each running rail 2, 2. Furthermore, the transport device 1 includes a traveling device 32 for moving each traverse rail 3,3 in the forward and backward direction along each travel rail 2,2, and a traverse device 34 for moving the lifting device 7 in the left and right direction along each traverse rail 3,3. The transport device 1 also includes a control unit 20 for controlling the traveling device 32, the traverse device 34, and the lifting device 7.

[0024] [Lifting device] As shown in Figures 1 and 3, the lifting device 7 comprises a screw shaft 7b arranged along the lifting direction of the object to be transported L1 (perpendicular to the traverse rail 3), a cover 7a covering the screw shaft 7b, a lifting motor 6 for rotating the screw shaft 7b, a slider 7c screwed onto the screw shaft 7b, and an extension member 7d whose upper end is attached to the slider 7c. The screw shaft 7b is a male screw, and the slider 7c is provided with a nut (not shown) that screws onto the male screw. In other words, the lifting device 7 comprises a ball screw mechanism having a screw shaft 7b, a lifting motor 6 for rotating the screw shaft 7b, and a slider 7c that moves up and down by the rotation of the screw shaft 7b. A hook 31 for locking the object to be transported L1 (Figure 1) is positioned at the lower end of the extension member 7d. A ring-shaped member 30 is inserted through the upper end of the hook 31, and the ring-shaped member 30 is attached to the lower end of the extension member 7d. The slider 7c and extension member 7d correspond to the movable member of the present invention, and the hook 31 corresponds to the holding part of the present invention.

[0025] [Traction device] As shown in Figure 1, the running gear 32 is provided on the upper left side of each traverse rail 3, 3. As shown in Figure 6, the running gear 32 comprises a running motor 4 (Figure 8), running wheels 4a inserted and fixed on the rotating shaft of the running motor 4, a plurality of driven wheels 32c, and a housing 32a that covers the running motor 4 and the like from below. The circumferential surface of the running wheels 4a is made of a non-slip material such as rubber and is biased (pressed) against the lower surface 2a of the left running rail 2 by a biasing device (not shown). Support members 32b are provided projecting upward from the front and rear of the upper end of the housing 32a to support the running gear 32 and each traverse rail 3, 3 (Figure 1) so that they can run. A plurality of driven wheels 32c are rotatably supported on each support member 32b. Each running rail 2 is configured in a box shape (rectangular prism shape), and each driven wheel 32c is in rotatable contact with the inner bottom surface 2b of the running rail 2.

[0026] Furthermore, as shown in Figures 1 and 2, a running device 33 is provided on the upper right side of each traverse rail 3, 3. The running device 33 is rotatably equipped with multiple driven wheels (not shown) identical to the driven wheels 32c provided on the running device 32, and each of these driven wheels is in rotatable contact with the inner bottom surface of the right-side running rail 2. When the travel motor 4 is driven, the travel wheels 4a rotate, and the travel devices 32, 33, each traverse rail 3, 3 and the lifting device 7 move forward or backward along each travel rail 2.

[0027] [Traversing device] As shown in Figures 1 to 4, the traverse device 34 is provided on the lower surface of each traverse rail 3, 3. As shown in Figure 7, the traverse device 34 comprises a traverse motor 5 (Figure 8), a traverse wheel 5a inserted and fixed on the rotating shaft of the traverse motor 5, a plurality of driven wheels 34c, and a housing 34a that covers the traverse motor 5 and other components from below. The circumferential surface of the traverse wheel 5a is formed of a non-slip material such as rubber and is biased (pressed) against the lower surface 3a of the rear traverse rail 3 by a biasing device (not shown). Support members 34b are provided on the left and right sides of the upper rear end of the housing 34a, protruding upward to support the traverse device 34 and the lifting device 7 (Figure 1) so that they can traverse. A plurality of driven wheels 34c are rotatably supported on each support member 34b. Each traverse rail 3 is configured in a box shape (rectangular prism shape), and each driven wheel 34c is rotatably in contact with the inner bottom surface 3b of the rear traverse rail 3. Support members 34b (not shown) are provided on the left and right sides of the upper front end of the housing 34a, protruding upward, and multiple driven wheels 34c are rotatably supported on each support member 34b (not shown). Each driven wheel 34c is rotatably in contact with the inner bottom surface 3b of the front traverse rail 3 (not shown). When the traverse motor 5 (Figure 8) is driven, the traverse wheels 5a rotate, and the traverse device 34 and the lifting device 7 move to the right or left along each traverse rail 3,3. In the following description, when describing matters common to the travel motor 4, traverse motor 5, and lifting motor 6, they may simply be referred to as "motors." In this embodiment, each motor is a brushless DC motor.

[0028] [Operating lever] As shown in Figure 5, a first mounting member 8 is attached to the lower end of the extension member 7d that constitutes the lifting device 7. A groove 8a is formed vertically on the rear surface 8b of the first mounting member 8, and the lower end of the extension member 7d is fitted into this groove 8a. A second mounting member 9 is attached to the rear surface 8b of the first mounting member 8, that is, the front surface as seen from the perspective of the operator. The second mounting member 9 has a horizontal portion 9a with a horizontal top surface, a front portion 9b that rises upward from the front end of the horizontal portion 9a, a left side portion 9c provided on the left side of the horizontal portion 9a and the front portion 9b, and a right side portion 9d provided on the right side of the horizontal portion 9a and the front portion 9b. The horizontal portion 9a, the front portion 9b, the left side portion 9c, and the right side portion are each formed in a plate shape.

[0029] A force sensor 14 is mounted on the upper surface of the horizontal section 9a, and a force receiving section 14a is provided on the upper surface of the force sensor 14, which displaces in accordance with the movement of the operating lever 10. A single operating lever 10 for indicating the transport direction of the transport object L1 (Figure 1) is erected in the center of the force receiving section 14a, integrated with the force receiving section 14a. The operating lever 10 is formed in the shape of a rod extending in the vertical direction, and is formed to a thickness that can be gripped with one hand by an operator. In other words, the operating lever 10 is formed in the shape of a so-called joystick. The operating lever 10 is configured to be tilted in any direction of 360 degrees, including the forward / backward direction (Y-axis direction) and the left / right direction (X-axis direction). Furthermore, the operating lever 10 is configured to be operated in the direction of pulling itself upward (Z-axis positive direction) and the direction of pushing itself downward (Z-axis negative direction). In other words, the operating lever 10 is configured to be operated in three axial directions (XYZ axis directions). In this embodiment, the force sensor 14 is a 6-axis force sensor that detects the force components and moment components of the operating lever 10 in the three axis (XYZ axis) directions. The force sensor 14 also incorporates a microcontroller that converts the signal detected by the force receiving unit 14a into digital data, which is then output to the control unit 20. The force sensor 14 can be of the electrical resistance type, capacitive type, piezoelectric type, optical type, etc.

[0030] When the operating lever 10 is tilted forward (positive Y-axis direction), the travel motor 4 is driven and the object L1 is transported forward. When the operating lever 10 is tilted backward (negative Y-axis direction), the travel motor 4 is driven and the object L1 is transported backward. When the operating lever 10 is tilted to the right (negative X-axis direction), the traverse motor 5 is driven and the object L1 is transported to the right. When the operating lever is tilted to the left (positive X-axis direction), the traverse motor 5 is driven and the object L1 is transported to the left. When the operating lever 10 is pushed downward (negative Z-axis direction), the lifting motor 6 is driven, the extension member 7d descends and the object L1 is transported downward. Furthermore, when the operating lever 10 is pulled upward (in the positive Z-axis direction), the lifting motor 6 is driven, the extension member 7d rises, and the object L1 to be transported is transported upward. Furthermore, when the operating lever 10 is tilted diagonally, the object L1 to be transported is transported in that diagonal direction. For example, when the operating lever 10 is tilted diagonally forward to the right, the travel motor 4 and the traverse motor 5 are driven simultaneously, and the object L1 to be transported is transported diagonally forward to the right. Also, when the operating lever 10 is returned to its neutral position before operation, the displacement direction and amount of the operating lever 10 detected by the force sensor 14 become 0, and transport stops.

[0031] Furthermore, as the angle at which the operating lever 10 is tilted increases, the amount of displacement detected by the force sensor 14 increases, and this amount of displacement is transmitted to the control unit 20, causing the motor's rotation speed, and thus the transport speed, to increase. Also, as the amount the operating lever 10 is pushed in increases, the rotation speed of the lifting motor 6 increases, and the transport speed downwards increases. Also, as the amount the operating lever 10 is pulled up increases, the rotation speed of the lifting motor 6 increases, and the transport speed upwards increases. In other words, the operator can transport the object L1 while adjusting the transport direction and transport speed by adjusting the tilt direction and tilt angle of the operating lever 10.

[0032] Furthermore, a push button 11 that can be pressed is provided on the head of the operating lever 10. Inside the operating lever 10 is a two-stage switch, a so-called double-action switch, consisting of a drive switch 12 and a stop switch 13 (Figure 8) that are switched by pressing the push button 11. The first-stage drive switch 12 is a switch for starting the operation of the conveying device 1, and the second-stage stop switch 13 is a switch for emergency stopping the operation of the conveying device 1. When the push button 11 is pressed so that the stroke amount (pressure amount) is equal to the first stroke amount, the drive switch 12 is turned on, and the first switching signal is output from the drive switch 12 to the control unit 20, making the transport device 1 capable of operating at least one of the travel motor 4, traverse motor 5, and lifting motor 6. In other words, the transport device 1 becomes operational. Furthermore, when the push button 11 is pressed so that the stroke amount is equal to the second stroke amount, which is greater than the first stroke amount, the stop switch 13 is turned on, and the second switching signal is output from the stop switch 13 to the control unit 20, stopping the supply of drive signals from the control unit 20 to the travel motor 4, traverse motor 5, and lifting motor 6, thereby braking each motor and causing all motors to stop instantaneously.

[0033] In other words, when the push button 11 on the operating lever 10 is lightly pressed, the transport device 1 becomes drivable, and when the operating lever 10 is tilted, the transport device 1 transports the object L1 in the direction in which the operating lever 10 is tilted. Also, when the operation of pressing the push button 11 is stopped while the transport device 1 is operating, or when the operating lever 10 is returned to the neutral position, the transport device 1 stops. Furthermore, when the push button 11, which has been lightly pressed, is strongly pressed while the transport device 1 is operating, the supply of drive signals to each motor is stopped, causing each motor to stop instantaneously. The push button 11 corresponds to the pressing part of the present invention, and the drive switch 12 and stop switch 13 correspond to the two-stage switch of the present invention.

[0034] [Range Sensor] As shown in Figures 2, 4, and 5, a range sensor 19 is attached to the front surface of the lower end of the extension member 7d, that is, the surface in the forward transport direction, for detecting obstacles present in a predetermined range including the transport direction of the object to be transported L1 (Figure 1). The range sensor 19 primarily detects obstacles present in the forward and left / right directions of the transport direction. If the range sensor 19 detects an obstacle during transport, the transport device 1 stops, and when the obstacle is no longer within the detection range of the range sensor 19, the transport device 1 returns to a transportable state. Also, if the range sensor 19 detects an obstacle during transport, transport within the detection range of the range sensor 19 is prohibited, but transport outside the detection range of the range sensor 19 is permitted. For example, if the range sensor 19 detects an obstacle while the object to be transported L1 is being transported forward, the object to be transported L1 cannot be transported forward, but it can be transported backward.

[0035] For example, a two-dimensional scanning optical distance sensor that measures the distance to an obstacle while scanning light can be used as the range sensor 19. Furthermore, a range sensor suited to the transport environment can be applied; for example, a range sensor with a detection range of 180 to 270 degrees centered on itself and a detection distance of 0.1 to 30 m can be used. Additionally, a type of range sensor 19 that automatically switches the detection range at predetermined intervals can be used. Furthermore, a type of range sensor 19 that can register multiple detection range patterns and select the registered detection range pattern via an external signal (e.g., a signal from a PC) can also be used. The range sensor 19 corresponds to the sensor of the present invention.

[0036] [Other types of switches] As shown in Figure 5, the rear surface 8b of the first mounting member 8 is provided with an emergency stop switch 15, an operation preparation switch 16, an abnormal reset switch 17, and an automatic transport switch 18. In the following description, when describing matters common to the emergency stop switch 15, the operation preparation switch 16, the abnormal reset switch 17, and the automatic transport switch 18, they may simply be referred to as switches. The operation preparation switch 16 is a push-type switch that supplies power to the transport device 1 and puts it into a transport-ready state. When the operation preparation switch 16 is pressed, its translucent operation preparation indicator lamp 16a lights up, indicating that the transport device 1 is ready to operate. The automatic transport switch 18 is a push-type switch that is operated when the object to be transported L1 is automatically transported to the target position according to a predetermined program. When the automatic transport switch 18 is pressed, its translucent automatic transport indicator lamp 18a lights up, indicating that automatic transport is about to begin. Automatic transport will be described later.

[0037] The emergency stop switch 15 is an alternate switch for stopping the transport device 1 in an emergency, such as during automatic transport. The abnormal reset switch 17 is a push-type switch for resetting the abnormal state when an abnormality occurs in the transport device 1 and the transport device 1 stops, and the cause of the abnormality has been removed. When an abnormality occurs in the transport device 1, the translucent abnormality notification lamp 17a on the abnormal reset switch 17 lights up to notify the occurrence of the abnormality, and when the abnormal reset switch 17 is pressed, the abnormality notification lamp 17a turns off to notify that the abnormality has been resolved. In the following description, when describing matters common to the operation preparation alarm lamp 16a, the abnormality alarm lamp 17a, and the automatic transport alarm lamp 18a, the term "alarm lamp" may be used. The force sensor 14, each switch, and each alarm lamp are electrically connected to the control unit 20 via the flexible cable 7e (Figures 1 to 4).

[0038] [Main electrical configuration] As shown in Figure 8, the control unit 20 of the transport device 1 is electrically connected to each switch and each indicator lamp, a force sensor 14, a range sensor 19, a travel motor drive circuit 4b for driving the travel motor 4, a traverse motor drive circuit 5b for driving the traverse motor 5, and a lifting motor drive circuit 6b for driving the lifting motor 6. In the following description, when describing matters common to the travel motor drive circuit 4b, the traverse motor drive circuit 5b, and the lifting motor drive circuit 6b, they may simply be referred to as the motor drive circuit.

[0039] The control unit 20 includes an input unit 21 for receiving switching signals (switching states) from each switch, a storage unit 22 that stores an automatic transport program for executing automatic transport, a CPU 23 for executing the program stored in the storage unit 22, a power supply unit 24, and an output unit 25. The automatic transport program sets the travel distance of the travel motor 4, the traverse distance of the traverse motor 5, and the lifting distance of the extension member 7d required to transport the object L1 to the target position. The storage unit 22 also stores a smoothing program for smoothing the speed command values ​​and torque command values ​​output from the control unit 20 to each motor drive circuit. The CPU 23 selects the motor to be driven based on the values ​​obtained from the force sensor 14, generates speed command values ​​and torque command values ​​for the selected motor, smooths the generated command values ​​according to a smoothing program, and then outputs them to each drive circuit. The power supply unit 24 supplies power to the CPU 23, the memory unit 22, each switch, the force sensor 14, the range sensor 19, each drive circuit, and each lamp. The output unit 25 outputs signals corresponding to the processing results of the CPU 23 to each motor drive circuit and each lamp. In this embodiment, the control unit 20 is a PLC (Programmable Logic Controller). Each program stored in the memory unit 22 can be rewritten by connecting a programming tool such as a PC to the control unit 20. Alternatively, a smoothing circuit can be used instead of a smoothing program.

[0040] [Processing performed by CPU23] Next, the processing flow executed by CPU23 will be explained with reference to Figures 9 to 11. Note that each step of the processing executed by CPU23 will be abbreviated as S. (Main routine) When the operation preparation switch 16 (Figures 5 and 8) is turned ON, the CPU 23 performs initial setup (S1 in Figure 9). This initial setup includes erasing data stored in the memory unit 22 (Figure 8) from the previous processing. Subsequently, the CPU 23 performs transport processing (S2) and timer interrupt processing (S3).

[0041] (Transportation process) The CPU 23 determines whether the automatic transport switch 18 (Figures 5 and 8) is ON or OFF (S10 in Figure 10). If it determines that it is ON (S10: Yes), it starts automatic transport according to the automatic transport program stored in the memory unit 22 (Figure 8) (S11). At this time, the automatic transport notification lamp 18a (Figures 5 and 8) lights up to indicate that automatic transport has started. The CPU 23 calculates the travel distance based on the rotation speed of the travel motor 4, the traverse distance based on the rotation speed of the traverse motor 5, and the lifting distance of the extension member 7d (Figure 1) based on the rotation speed of the lifting motor 6.

[0042] Next, the CPU 23 determines whether the object to be transported L1 has reached the target position (S12). If it determines that the object has reached the target position (S12:Yes), it terminates automatic transport (S13). Specifically, it determines that the object has reached the target position when each motor has reached the travel distance set in the automatic transport program. If the CPU 23 determines that the object has not reached the target position (S12:No), it continues automatic transport until it determines in S12 that the object has reached the target position. Also, if the CPU 23 determines that the automatic transport switch 18 is not ON (S10:No), it performs manual transport (S14). In other words, it controls the travel motor 4, traverse motor 5, and lifting motor 6 according to the operating state of the operation lever 10 to transport the object to be transported L1.

[0043] (Timer interrupt handling) The CPU 23 determines whether automatic transport is in progress (S20 in Figure 11). If it determines that automatic transport is in progress (S20: Yes), it determines whether the operating lever 10 has been operated based on the change in data acquired from the force sensor 14 (S21). If the CPU 23 determines that the operating lever 10 has been operated (S21: Yes), it stops all motors (S24) and lights up the abnormality notification lamp 17a (Figures 5 and 8) (S25). Next, the CPU 23 determines whether the abnormality reset switch 17 (Figures 5 and 8) is ON (S26). If it determines that it is ON (S26: Yes), it resets the automatic transport program (S27) and returns to the main routine. If the CPU 23 determines that the abnormality reset switch 17 is not ON (S26: No), it returns to the main routine.

[0044] Furthermore, if the CPU 23 determines that the operating lever 10 is not being operated (S21: No), it determines whether the emergency stop switch 15 (Figures 5 and 8) is ON or OFF (S22). If it determines that it is ON (S22: Yes), it stops all motors (S24) and executes S25 onwards. Also, if the CPU 23 determines that the emergency stop switch 15 is not ON (S22: No), it determines whether the range sensor 19 (Figures 5 and 8) is ON or OFF (S23). If it determines that it is ON (S23: Yes), it stops all motors (S24) and executes S25 onwards. In this way, during automatic transport, when the operating lever 10 is operated, or when the emergency stop switch 15 is operated, or when an obstacle is detected by the range sensor 19, the CPU 23 stops all motors and lights up the abnormality notification lamp 17a (S24, S25). When the abnormality reset switch 17 is operated, it resumes automatic transport (S27). Furthermore, the stop switch 13 (Figure 8), the operation preparation switch 16, and the emergency stop switch 15 provided on the operating lever 10 are connected to each drive circuit 4b to 6b via a separate route in addition to the connection route to the control unit 20. This ensures that even if the control unit 20 malfunctions, the operation of each switch remains effective, preventing the transport device 1 from malfunctioning due to a malfunction of the control unit 20.

[0045] [Effects of the Embodiment] (1) The conveying device 1 according to the above embodiment does not use a hoisting machine as a lifting device, and comprises a screw shaft 7b arranged along the lifting direction of the object to be conveyed L1, a slider 7c screwed onto the screw shaft 7b, an extension member 7d whose upper end is attached to the slider 7c, and a hook 31 provided at the lower end of the extension member 7d, and the object to be conveyed L1 is locked to the hook 31, so that the swaying of the object to be conveyed L1 during conveyance can be reduced. Therefore, according to the conveying device 1 of the above embodiment, the object to be conveyed L1 can be easily, efficiently, and accurately conveyed to the target position.

[0046] (2) Moreover, the transport device 1 according to the above embodiment can be directed by a single operating lever 10. Therefore, the conveying device 1 according to the embodiment described above can be operated easily. In addition, since the time lag when changing the conveying direction is small, work efficiency can also be improved.

[0047] (3) Furthermore, in the transport device 1 according to the above embodiment, the operating lever 10 is provided on the extension member 7d that moves up and down, so the operator moves in the transport direction while operating the operating lever 10. Therefore, according to the conveying device 1 of the above-described embodiment, the movement of the conveying device 1 can be understood not only visually but also tactilely.

[0048] (4) Furthermore, the transport device 1 according to the above embodiment is equipped with a force sensor 14 that is integrated with the operating lever 10 and outputs a signal corresponding to the movement of the operating lever 10 to the control unit, and the control unit 20 can control the travel motor 4, the traverse motor 5 and the lifting motor 6 based on the signal output from the force sensor 14. Therefore, according to the transport device 1 of the embodiment described above, the transport speed and transport distance can be finely adjusted, which improves the accuracy of transporting the object L1 to the target position.

[0049] (5) Furthermore, the transport device 1 according to the above embodiment is equipped with a range sensor 19 that detects obstacles in a predetermined range including the transport direction of the object to be transported L1, and the control unit 20 can prohibit transport of the object to be transported L1 in the transport direction if the range sensor 19 detects an obstacle while the object to be transported L1 is being transported, and allow transport in the transport direction in which the range sensor 19 does not detect an obstacle. Therefore, according to the transport device 1 of the embodiment described above, even if transport stops due to the presence of an obstacle in the transport direction, the transport object L1 can be transported by selecting a transport route outside the detection range of the range sensor 19, thus enabling the transport object L1 to be transported to the target position without interrupting the transport operation.

[0050] (6) When vibrations are transmitted to the operating lever 10 when transporting the object L1, the accuracy of the data acquired from the force sensor 14, which is integrally provided with the operating lever 10, may decrease, which may reduce the accuracy of motor control. However, according to the transport device 1 of the embodiment described above, the motor speed command value and torque command value obtained based on the data acquired from the force sensor 14 can be smoothed, thereby reducing the effects of vibration and minimizing the decrease in motor control accuracy.

[0051] (7) Furthermore, the transport device 1 according to the above embodiment can transport the object to be transported L1 during normal operation by lightly pressing the push button 11 provided on the head of the operating lever 10, and in an emergency, the transport can be instantly stopped by strongly pressing the push button 11. Therefore, according to the transport device 1 of the embodiment described above, when operating the operating lever 10, the transport device 1 can be stopped in an emergency simply by pressing the push button 11, which is being lightly pressed with the thumb, more firmly. This allows the transport device 1 to be stopped in an emergency more quickly than when the operation start button and emergency stop button are separately located, thus enhancing safety.

[0052] (8) Furthermore, in the transport device 1 according to the above embodiment, the storage unit 22 of the control unit 20 stores an automatic transport program for automatically transporting the object to be transported L1 to a target position, and when the automatic transport switch 18 is turned on, the travel motor 4, traverse motor 5 and lifting motor 6 are controlled according to the above automatic transport program to automatically transport the object to be transported L1 to a target position, and the automatic transport can be canceled when the operation lever 10 is operated during the automatic transport. Therefore, according to the transport device 1 of the embodiment described above, the object to be transported L1 can be automatically transported to the target position, thereby reducing labor and improving transport efficiency. In addition, it is convenient because the automatic transport can be canceled by operating the operating lever 10 during automatic transport.

[0053] (9) Furthermore, the operating lever 10 provided in the transport device 1 according to the above embodiment can be moved in directions corresponding to the travel direction of the travel rail 2, the traverse direction of the traverse rail 3, and the up and down direction, and the force sensor 14 is a 6-axis force sensor. Therefore, according to the transport device 1 of the embodiment described above, the object to be transported L1 can be transported in the direction in which the operating lever 10 is moved. Compared to devices that operate multiple buttons for each direction, there is no need to look at the operator's hands each time an operation is performed, thus improving operability and safety. Furthermore, since the transport speed can be controlled according to the angle at which the operating lever 10 is tilted, the transport position can also be finely adjusted. Furthermore, because the direction in which the operating lever 10 is moved corresponds to the transport direction, users can learn the operating technique intuitively, making it easier to acquire the skill. Also, operating errors are less likely to occur.

[0054] (10) In other words, according to the conveying device 1 according to the embodiment described above, it is possible to provide a conveying device that can efficiently and accurately convey the object to be conveyed L1 to a target position. Furthermore, according to the present invention, it is possible to provide a conveying device that is not troublesome to operate and can improve work efficiency. Furthermore, it is possible to provide a conveying device in which the movement of the conveying device can be grasped intuitively. Furthermore, it is possible to provide a conveying device that can improve the accuracy of conveying the object to be conveyed L1 to a target position.

[0055] [Other embodiments] (1) The holding parts, such as the ring-shaped member 30 and hook 31 (Figure 5) for holding the object to be transported L1, can be changed according to the shape of the object to be transported L1. For example, as shown in Figure 12, if the object to be transported is a tire L2, a base 35 and a protruding part 36 can be provided as holding parts that can transport the tire L2 while holding it. In the illustrated example, the base 35 is attached to the lower end of the extension member 7d, and the protruding part 36 is formed to protrude from the base 35. The base 35 is formed in the shape of a long rod in the left-right direction, and the protruding part 36 is formed in the shape of a long rod in the front-rear direction. The protruding part 36 protrudes forward from the front right end of the base 35. In addition, the same protruding part 36 (not shown in the figure) as the illustrated protruding part 36 protrudes forward from the front left end of the base 35. Each protruding part 36 faces the other, and is configured to support the circumferential surface of the tire L2 from below at two points. Furthermore, a first mounting member 40 is attached to the extension member 7d, and the first mounting member 40 is equipped with the aforementioned operation preparation switch 16, emergency stop switch 15, abnormal reset switch 17, automatic transport switch 18, and range sensor 19. For example, when a worker installs a tire L2 onto a vehicle, they operate the control lever 10 while transporting the tire L2 to the installation position. In this case, the worker can operate the control lever 10 while facing the tire L2, so the movement of the worker's hand directly corresponds to the movement of the holding part (base 35 and protrusion 36), making it easy to fine-tune the tire's installation position. In this case, the transport device 1 functions as a power assist device for transporting the tire L2. Note that the configuration of the holding part (base 35 and protrusion 36) may be other than the configuration shown in the figure.

[0056] (2) Alternatively, a trigger-type switch may be provided on the surface of the operating lever 10 instead of the push button 11. For example, a switch that can be operated with a finger other than the thumb of the hand holding the operating lever 10 (for example, the index finger) may be provided on the surface of the operating lever 10, and when the switch is operated by a first stroke amount, each motor becomes drivable, and when the switch is operated by a second stroke amount greater than the first stroke amount during transport, each motor is stopped instantaneously.

[0057] (3) In addition to the range sensor 19, a range sensor for detecting obstacles in the upward direction (Z-axis positive direction) may also be provided. For example, a range sensor for detecting obstacles in the upward direction may be provided on the extension member 7d or the first mounting member 8, and all motors may be stopped when an obstacle in the upward direction is detected. Using a transport device configured in this way, transport can be interrupted if an obstacle is present in the upward direction, thereby increasing safety. Furthermore, a range sensor for detecting obstacles in the downward direction (Z-axis negative direction) may also be provided to further increase safety in the downward direction.

[0058] (4) A return switch can be provided at a predetermined location (for example, the first mounting member 8) to automatically return the transport device 1 to the coordinates at the start of the transport operation during manual or automatic transport, and a return program for automatically returning the transport device 1 can be stored in the storage unit 22 of the control unit 20. Using a transport device configured in this way, if transport is interrupted for any reason, the transport device 1 can be automatically returned to the transport start position by turning on the return switch, thereby improving transport efficiency and convenience.

[0059] (5) When all motors stop during automatic transport and the abnormality notification lamp 17a lights up, the system can be configured to automatically resume automatic transport from the point where it was interrupted by turning on the abnormality reset switch 17. In this case, the CPU 23 executes the process of "resuming automatic transport" in S27 of Figure 11. Using a transport device configured in this way allows for the resumption of automatic transport, thereby improving transport efficiency and convenience.

[0060] (6) When the range sensor detects an obstacle during automatic transport, the system can be configured to automatically transport the object to the target position by selecting a transport route that does not involve detecting the obstacle. For example, when the range sensor detects an obstacle ahead in the transport direction, the system can travel and traverse in a way that avoids detecting the obstacle, transporting the object to the target position. Using a transport system configured in this way allows for automatic transport while avoiding obstacles, thereby increasing transport efficiency and convenience. This is particularly useful when there are obstacles that are difficult to remove along the transport route. In this case, it is desirable to select the detection range and mounting position of the range sensor according to the size and location of the obstacle, as well as the size of the object to be transported L1 and its target position. [Explanation of symbols]

[0061] 1. Conveying device 2 Running Rails 2a Bottom side 2b Internal bottom 3. Traverse rails 3a Bottom side 3b Internal bottom 4. Driving motor 4a Running wheels 4b Drive motor circuit 5. Traverse motor 5a Traverse wheels 5b Traverse motor drive circuit 6. Lifting motor 6a Lifting motor drive circuit 7. Lifting device 7a Cover 7b Screw shaft 7c Slider (movable component) 7d Extension member (movable member) 7e cable 8. First mounting member 8a Concave groove 8b Rear 9. Second mounting member 9a Flat part 9b Front part 9c Left side part 9d Right side part 10 Operating levers 11 Push buttons 12 Drive switches 13 Stop switch 14 Force Sensors 15. Emergency stop switch 16. Operation preparation switch 16a Operation preparation indicator lamp 17. Abnormal Reset Switch 17a Abnormal Reset Indicator Lamp 18 Automatic transport switch 18a Automatic transport alarm lamp 19. Range Sensor 20 Control Unit 21 Input section 22 Memory section 23 CPU 24 Power supply section 25 Output section 30 Ring-shaped member 31 Hook (holding part) 32 Traveling device 32a Housing 32b Support member 32c driven wheel 33. Running gear 34 Traverse device 34a Housing 34b Support member 34c driven wheel 35 base 36 Protrusion 40 First mounting member L1 Object to be transported L2 Tires

Claims

1. The running rails are arranged opposite each other, A traverse rail is arranged perpendicular to the aforementioned running rail and is movable along the running rail, A lifting device is provided on the aforementioned traverse rail so as to be movable along the traverse rail, for raising and lowering an object to be transported, A travel motor for moving the aforementioned traverse rail along the aforementioned travel rail, A traverse motor for moving the lifting device along the traverse rail, A transport device comprising a control unit for controlling the aforementioned travel motor, the aforementioned traverse motor, and the aforementioned lifting device, The aforementioned lifting device is A screw shaft arranged along the vertical direction of the object to be conveyed, A movable member screwed onto the aforementioned screw shaft, The moving member is provided with a holding part for holding the object to be transported, A lifting motor for raising and lowering the moving member along the screw shaft by rotating the screw shaft, The moving member is provided with a single operating lever for indicating the direction of transport of the object to be transported, The system includes a force sensor which is integrated with the aforementioned operating lever and outputs a signal corresponding to the movement of the operating lever to the control unit, The control unit, Based on the signal output from the force sensor, the travel motor and the traverse motor and the lifting device are controlled. In addition, the aforementioned operating lever, A pressing part that can be pressed, The device includes a two-stage switch that outputs a first switching signal based on a first stroke amount of the pressing portion, and outputs a second switching signal based on a second stroke amount greater than the first stroke amount. In addition, the control unit, A transport device characterized in that when the first switching signal is input, at least one of the travel motor, the traverse motor, and the lifting motor is made operational, and when the second switching signal is input, all of the travel motor, the traverse motor, and the lifting device are stopped.

2. The system is equipped with a sensor that detects obstacles present in a predetermined range including the direction of transport of the object to be transported. The control unit, The conveying device according to claim 1, characterized in that, when the sensor detects an obstacle while the conveyed object is being conveyed, the conveying of the conveyed object in the conveying direction is prohibited, and conveying in a conveying direction in which the sensor does not detect an obstacle is permitted.

3. The control unit, The transport device according to claim 1 or 2, characterized in that, based on data acquired from the force sensor, a command value is determined to be given to the motor to be driven among the travel motor, the traverse motor, and the lifting motor, the determined command value is smoothed, and the motor to be driven is driven based on the smoothed command value.

4. The control unit, The conveying device according to claim 1 or 2, characterized in that it stores a program for automatically conveying the object to be conveyed to a target position, and when the automatic conveying switch is turned on, it controls the travel motor, the traverse motor and the lifting device in accordance with the program to automatically convey the object to be conveyed to the target position, and when the operating lever is operated during the automatic conveying, it cancels the automatic conveying.

5. The aforementioned operating lever is It is possible to move in directions corresponding to the running direction of the running rail, the traverse direction of the traverse rail, and the vertical direction of the moving member. The force sensor is The transport device according to claim 1 or 2, characterized in that it is a 6-axis force sensor.

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