Conveying system

Abstract

To reduce load on a transportation truck by a synchronous truck synchronizing travelling while connected to the transportation truck.SOLUTION: A transportation system (100) is a transportation system that comprises a transportation truck (1) and a synchronous truck (2) that moves in synchronization with the transportation truck (1). The synchronous truck (2) has a power device (23) that generates power for travelling, a gripping section that contacts with the transportation truck (1) so that the power of the transportation truck (1) is transmitted, a detection section that detects the load applied to the gripping section by the transportation truck (1), and a power control section that controls the power device (23) on the basis of the load detected by the detection section.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a transport system including a transport cart and a synchronous cart that travels in synchronization with the transport cart.

Background Art

[0002] When configuring production equipment such as automobiles in a line system, the vehicle body is transported on a certain travel route by a transport cart. In addition, in the production equipment, a synchronous cart is arranged in a specific process among a plurality of processes provided from the upstream to the downstream of the line.

[0003] For example, Patent Document 1 discloses a transport facility in which a synchronous cart is connected to a transport cart and advances integrally with the transport cart by receiving the thrust of the transport cart.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above transport facility, since the synchronous cart does not have thrust, it is pulled by the transport cart and travels. Therefore, a large load is applied to the power motor (or drive unit) of the transport cart and the connection part with the synchronous cart.

[0006] One aspect of the present invention aims to reduce the load applied by a synchronous cart traveling in a state connected to a transport cart to the transport cart.

Means for Solving the Problems

[0007] To solve the above problems, a transport system according to one aspect of the present invention is a transport system comprising a transporting body and a synchronous moving body that moves in sync with the transporting body, wherein the synchronous moving body includes a power unit that generates power for travel, a contact part that contacts the transporting body so that the power of the transporting body is transmitted, a detection unit that detects the load applied to the contact part by the transporting body, and a power control unit that controls the power unit based on the load detected by the detection unit. [Effects of the Invention]

[0008] According to one aspect of the present invention, the load placed on the transport trolley by a synchronous trolley that travels while connected to the transport trolley can be reduced. [Brief explanation of the drawing]

[0009] [Figure 1] This is a plan view showing the configuration of a transport system according to one embodiment of the present invention. [Figure 2] This is a side view showing the configuration of the transport trolley in the above transport system. [Figure 3] This is a plan view showing the connection between the transport trolley and the synchronous trolley in the above transport system. [Figure 4] This is a front view showing the connection between the transport trolley and the synchronous trolley in the above transport system. [Figure 5] This is a front view showing the configuration of the gripping device of the above-mentioned synchronous trolley. [Figure 6] This is a side view showing the configuration of the gripping device described above. [Figure 7] This is a plan view showing the configuration of the gripping device described above. [Figure 8] This is a block diagram showing the configuration of the control system for the synchronized bogie described above. [Figure 9] This flowchart shows the control procedure for the movement of the synchronized trolley and its connection to the transport trolley. [Figure 10] This is a front view showing the standby state of the above-mentioned synchronized bogie. [Figure 11]This is a front view showing the gripping device when the synchronized trolley is in a state ready to move in synchronously with the transport trolley. [Modes for carrying out the invention]

[0010] [Configuration of the transport system] The transport system of the present invention will be described with reference to Figures 1 to 4.

[0011] Figure 1 is a plan view showing the configuration of a transport system according to one embodiment of the present invention. Figure 2 is a side view showing the configuration of the transport trolley 1 in the transport system 100. Figure 3 is a plan view showing the connection state between the transport trolley 1 and the synchronous trolley 2 in the transport system 100. Figure 4 is a front view showing the connection state between the transport trolley 1 and the synchronous trolley 2 in the transport system 100.

[0012] As shown in Figure 1, the automobile manufacturing line is equipped with a transport system 100. The transport system 100 comprises a transport trolley 1 (transporting mobile body) and a synchronous trolley 2 (synchronous mobile body).

[0013] The transport trolley 1 forms a conveyor-like manufacturing line that travels along a fixed path in a continuous state of contact with each other. The synchronized trolley 2 is positioned to run in sync with the transport trolley 1 in a work area where a specific process is performed on the manufacturing line, making it possible to assemble parts held by the synchronized trolley 2 onto a vehicle body B placed on the transport trolley 1 while it is in motion.

[0014] As shown in FIGS. 2 and 3, the transport cart 1 has a base 11, wheels 12, a lifting device 13, a shaft body 14 (protruding body), and a support body 15. On the base 11, two pairs of wheels 12 are provided before and after in the traveling direction indicated by the arrow in FIG. 1. The wheels 12 roll on a pair of running rails 3. The lifting device 13 raises and lowers the mounting table 13a on which the vehicle body B is placed by moving the lifting mechanism 13b up and down by the lifting drive device 13c. The height at which the mounting table 13a moves up and down is set to a height suitable for the work in each work area. The shaft body 14 is fixed to the support body 15 provided at the side edge of the base 11 so as to protrude toward the synchronous cart 2 side.

[0015] As shown in FIGS. 3 and 4, the synchronous cart 2 has a base 21, wheels 22, a power device 23 (power unit), a position sensor 24A (detection unit), a position sensor 24B, and a gripping device 25 (contact unit).

[0016] On the base 21, two pairs of wheels 22 are provided before and after in the traveling direction indicated by the arrow in FIG. 3. The wheels 22 roll on a pair of running rails 4. The power device 23 is configured to include a motor or the like in order to generate power for the synchronous cart 2 to travel independently.

[0017] The position sensor 24A is a sensor that detects that the transport cart 1 has reached the position at the start end of the traveling section of the synchronous cart 2 (hereinafter referred to as the "start end position"). The start end position is also the position where the synchronous cart 2 that is synchronously transported with the transport cart 1 waits. For the position sensor 24A, for example, an optical position sensor is preferably used. Specifically, the position sensor 24A is disposed at the rear end of the synchronous cart 2, irradiates light toward the running rail 3 side, and receives the reflected light of the light from the reflector provided at the front end of the transport cart 1, thereby detecting that the transport cart 1 has reached the start end position.

[0018] The position sensor 24B is a sensor that detects when the synchronous trolley 2 has reached the starting position of the above-mentioned travel section and when it has reached the ending position of the travel section (hereinafter referred to as the "end position"). The starting position is also the waiting position where the synchronous trolley 2 is waiting. The end position is also the release position where the synchronous transport between the transport trolley 1 and the synchronous trolley 2 is released. For example, an optical position sensor is preferably used for the position sensor 24B. Specifically, the position sensor 24B is located at the front end of the synchronous trolley 2 and detects when the synchronous trolley 2 has reached the end position by irradiating light between the travel rails 4 and receiving the reflected light from a reflector provided at the end position between the travel rails 4.

[0019] Furthermore, when using servo motors as the power source for the transport trolley 1 and the power unit 23, position sensors 24A and 24B can be omitted. The servo amplifier that controls the servo motor controls the rotation angle of the servo motor by pulse drive. Therefore, by defining the amount of movement per pulse, the amount of movement, i.e., the position, of the transport trolley 1 and the synchronous trolley 2 can be determined. In contrast, when using a motor other than a servo motor as a power source, such as an induction motor, position sensors 24A and 24B are required because the motor does not have the same positioning function as a servo motor.

[0020] The gripping device 25 is a device for gripping the shaft 14 of the transport trolley 1. The gripping device 25 grips the shaft 14 at two points on the shaft 14, in the direction of travel of the transport trolley 1 and in the opposite direction. The configuration of the gripping device 25 will be described in detail below.

[0021] [Configuration of the gripping device] Figure 5 is a front view showing the configuration of the gripping device 25. Figure 6 is a side view showing the configuration of the gripping device 25. Figure 7 is a top view showing the configuration of the gripping device 25.

[0022] As shown in Figures 5 to 7, the gripping device 25 has a base 26, a pair of support plates 27, and a support shaft 28. The gripping device 25 also has a pair of sliding devices 250A, 250B, sliding plates 251A, 251B, rotating arms 252A, 252B, rollers 254A, 254B, cushioning mechanisms 255A, 255B, mounting members 256A, 257B, contact plate 257A (contact part, first contact body), contact plate 257B (contact part, second contact body), and load sensors 258A, 258B (detection part).

[0023] The base 26 is a rectangular, plate-shaped platform. The pair of support plates 27 are plate-shaped members formed to rise from both end edges along the X1 and X2 directions in the middle section of the base 26. Here, the X1 direction is the direction of travel of the synchronous trolley 2, and the X2 direction is the opposite direction of travel, the opposite direction in which the synchronous trolley 2 returns to the standby position. The support shaft 28 is spanned between the upper ends of the pair of support plates 27 and is fixed to each support plate 27 at both ends.

[0024] The sliding devices 250A and 250B are each positioned on a base 26 and are devices that slide the sliding plates 251A and 251B along the X1 and X2 directions, respectively. Each of the sliding devices 250A and 250B has a sliding mechanism 250a, a moving plate 250b, and a drive motor 250c.

[0025] The sliding mechanism 250a is composed of mechanical elements, such as a ball screw, that convert rotational motion by the drive motor 250c into linear motion. The sliding mechanism 250a moves the movable plate 250b, which is located on the upper end surface of the sliding mechanism 250a, in the X1 direction or the X2 direction.

[0026] The slide plates 251A and 251B are plate-shaped members of a fixed length, positioned on the movable plate 250b of the slide devices 250A and 250B, respectively, and move integrally with the movable plate 250b. The slide plates 251A and 251B have a high-position portion 251a, an inclined portion 251b, and a low-position portion 251c.

[0027] The high-position section 251a is provided in a certain section from one end of the slide plates 251A and 251B, and is the upper end surface portion that is at the highest position from the bottom surface of the slide plates 251A and 251B. The low-position section 251c is provided in a certain section from the other end of the slide plates 251A and 251B, and is the upper end surface portion that is at the lowest position from the bottom surface of the slide plates 251A and 251B. The inclined section 251b is the upper end surface portion that is inclined between the high-position section 251a and the low-position section 251c.

[0028] The rotating arms 252A and 252B are components that rotate in accordance with the movement of the sliding plates 251A and 251B, respectively. The rotating arms 252A and 252B each have a rotating support portion 252a and an arm portion 252b.

[0029] The rotating support portion 252a is formed in a cylindrical shape, and the support shaft 28 is inserted through its center so that it can rotate relative to the support shaft 28. The rotating support portions 252a of the rotating arms 252A and 252B are arranged to be aligned with the support shaft 28.

[0030] The arm portion 252b has a pivot end that rotates the most, a long, straight section that continues from the pivot end, and a bent section that is bent from one end of the straight section. The arm portion 252b is joined to the pivot support portion 252a at the apex that forms an acute angle at the boundary between the straight section and the bent section. As a result, the arm portion 252b can rotate around the support shaft 28 integrally with the pivot support portion 252a.

[0031] Rollers 254A and 254B are rotatably attached to the ends of the bent portions of the arm portion 252b. Rollers 254A and 254B are positioned to illuminate the upper end surfaces of the slide plates 251A and 251B, i.e., the high-position portion 251a, the inclined portion 251b, and the low-position portion 251c, respectively, by contacting the respective surfaces.

[0032] The sliding device 250A, the sliding plate 251A, and the rotating arm 252A described above constitute the first gripping mechanism 253A. The first gripping mechanism 253A is a mechanism that moves the contact plate 257A between a contact position where the contact plate 257A contacts the shaft 14 on the path through which the shaft 14 passes, and a retracted position where the contact plate 257A is moved away from the above path.

[0033] Furthermore, the slide device 250B, slide plate 251B, and rotating arm 252B described above constitute a second gripping mechanism 253B. The second gripping mechanism 253B is a mechanism that moves the contact plate 257B between a contact position where the contact plate 257B contacts the shaft 14 on the path through which the shaft 14 passes, and a retracted position where the contact plate 257B is moved away from the above path.

[0034] The shock-absorbing mechanisms 255A and 255B are mechanisms that absorb the impact received from the shaft 14 by having contact plates 257A and 257B, respectively, contact the moving shaft 14. The shock-absorbing mechanisms 255A and 255B are attached to the rotating end of the arm portion 252b. The shock-absorbing mechanisms 255A and 255B include a spring 255a, clamping plates 255b and 255c, a holding shaft 255d, a detection plate 252e, and a distance sensor 252f.

[0035] Spring 255a is a compression spring. As shown in Figure 7, spring 255a is positioned to expand and contract in the X1 or X2 direction with contact plates 257A and 257B in contact with the shaft 14. One end of spring 255a is fixed to clamping plate 255b, and the other end of spring 255a is fixed to clamping plate 255b. Thus, spring 255a is clamped between clamping plates 255b and 255c.

[0036] The retaining shaft 255d is positioned at the center of the spring 255a. One end of the retaining shaft 255d is fixed to the clamping plate 255b. The other end of the retaining shaft 255d passes through the clamping plate 255c, and a nut 255g is fitted onto the face of the clamping plate 255c on the side of the arm portion 252b. This allows the clamping plate 255c to move along the retaining shaft 255d in the X1 direction or the X2 direction, with movement in the X1 direction being restricted by the position of the nut 255g.

[0037] The detection plate 252e is a plate-shaped member having a predetermined thickness and is positioned to the side of the spring 255a in the clamping plate 255b. The distance sensor 252f is a sensor that detects the distance to the detection plate 252e based on the time it takes for ultrasonic waves or light irradiated onto the detection plate 252e to return and the intensity at which it returns. The distance sensor 252f is positioned to the side of the spring 255a in the clamping plate 255c, facing the detection plate 252e. As shown in Figure 7, the detection plate 252e and the distance sensor 252f are positioned such that there is a predetermined distance between them when the spring 255a is fully extended. This allows the amount of compression of the spring 255a corresponding to the distance detected by the distance sensor 252f to be used for controlling the movement of the transport trolley 1.

[0038] Mounting members 256A and 256B are for attaching contact plates 257A and 257B, respectively. Mounting members 256A and 256B are positioned on the central axis of the holding shaft 255d on the surface of the clamping plate 255c opposite to the surface to which the holding shaft 255d is fixed, that is, on the surface facing the shaft body 14 shown in Figure 7.

[0039] The contact plate 257A is a plate-shaped member that contacts the shaft 14 on the front side in the direction of travel (X1 direction) of the transport trolley 1, and has a contact surface that contacts the shaft 14. The contact plate 257A is attached to the mounting member 256A on the side opposite to the contact surface. The contact plate 257B is a plate-shaped member that contacts the shaft 14 on the rear side in the direction of travel of the transport trolley 1, and has a contact surface that contacts the shaft 14. The contact plate 257B is attached to the mounting member 256B on the side opposite to the contact surface. The contact plates 257A and 257B grip the shaft 14 as shown in Figure 7.

[0040] The load sensor 258A (first detection unit) is a sensor that detects the load applied to the contact plate 257A in the X1 direction, and is configured, for example, as a load cell. The load sensor 258A is built into the mounting member 256A and is positioned to contact the mounting surface of the contact plate 257A. The load sensor 258B (second detection unit) is a sensor that detects the load applied to the contact plate 257B in the X2 direction, and is configured, for example, as a load cell. The load sensor 258B is built into the mounting member 256B and is positioned to contact the mounting surface of the contact plate 257B.

[0041] [Configuration of the control system for the synchronous bogie] Figure 8 is a block diagram showing the configuration of the control system for the synchronous bogie 2.

[0042] The synchronous bogie 2 is equipped with a control device 6 as shown in Figure 8. The control device 6 is a device that controls each part of the synchronous bogie 2 that is subject to control. The control device 6 has a power control unit 61, a gripping control unit 62, a main control unit 63, a travel drive control device 64, and a gripping drive control device 65.

[0043] The power control unit 61 controls the power unit 23 based on the load detected by the load sensor 258A and the load detected by the load sensor 258B. The power control unit 61 includes a calculation control unit 611 and a speed control unit 612 in order to control the power unit 23.

[0044] The calculation control unit 611 calculates the difference, or deviation, between the load in the X1 direction detected by the load sensor 258A and the load in the X2 direction detected by the load sensor 258B, and outputs a control variable based on this deviation. If the deviation is a positive value, the control variable is also a positive value, and if the deviation is a negative value, the control variable is also a negative value. In other words, as a result of comparing the two loads, the calculation control unit 611 outputs a control variable for the power unit 23 based on the difference between the two loads. For example, if the load in the X1 direction is greater than or equal to the load in the X2 direction, the calculation control unit 611 increases the control variable so that the speed of the synchronous bogie 2 increases, and if the load in the X1 direction is less than the load in the X2 direction, it decreases the control variable so that the speed of the synchronous bogie 2 decreases.

[0045] The speed control unit 612 outputs a command speed based on the control variable from the calculation control unit 611. Specifically, the speed control unit 612 adds the previous command speed to the control variable from the calculation control unit 611 and outputs a new command speed.

[0046] The driving control device 64 controls the drive of the power unit 23 based on the commanded speed from the speed control unit 612. For example, if a servo motor is used as the power source for the power unit 23, the driving control device 64 corresponds to a servo amplifier. In this case, the driving control device 64 acquires a feedback signal from the servo motor and transmits it to the main control unit 63.

[0047] The main control unit 63 comprehensively controls each part of the control device 6. For example, the main control unit 63 generates position information of the synchronous bogie 2 based on feedback signals from the travel drive control device 64. The main control unit 63 transmits the position information to the gripping control unit 62 and outputs commands to the travel drive control device 64 to start or stop the power unit 23 based on the position information. If an induction motor other than a servo motor is used as the power source for the power unit 23, the main control unit 63 may generate position information based on detection signals from position sensors 24A and 24B. Furthermore, based on the position information, the main control unit 63 outputs drive commands to the gripping control unit 62 to control the driving of the gripping device 25 according to the position of the synchronous bogie 2.

[0048] Based on position information, when the main control unit 63 recognizes that the synchronous bogie 2 has reached the end of the travel section, it outputs a return command to the travel drive control device 64 to stop the synchronous bogie 2 and travel in the X2 direction (return direction). Also, based on position information, when the main control unit 63 recognizes that the synchronous bogie 2 has reached the start of the travel section, it outputs a stop command to the travel drive control device 64 to stop the synchronous bogie 2. Furthermore, based on position information, when the main control unit 63 recognizes that the synchronous bogie 2 is in the standby position and detects a load applied to the contact plate 257A by the load sensor 258A, it outputs a travel command to the travel drive control device 64 to travel the synchronous bogie 2 in the X1 direction.

[0049] The main control unit 63 acquires the outputs of load sensors 258A and 258B via the calculation control unit 611. When the load detected by load sensor 258A is greater than or equal to a predetermined value, the main control unit 63 controls the power unit 23 to stop the synchronous trolley 2. At this time, the main control unit 63 may also notify the control device of the higher-level transport system or the control device of the transport trolley 1 that the synchronous trolley 2 has stopped.

[0050] When the transport trolley 1 reaches the standby position of the synchronous trolley 2, the gripping control unit 62 outputs a control signal that controls the drive motor 250c of the slide device 250A to move the first gripping mechanism 253A from the retracted position to the contact position, based on a drive command from the main control unit 63. Furthermore, when the load sensor 258A detects a load applied to the contact plate 257A, the gripping control unit 62 outputs a control signal that controls the drive motor 250c of the slide device 250B to move the second gripping mechanism 253B from the retracted position to the contact position to grip the shaft body 14, based on a drive command. Additionally, when the synchronous trolley 2 reaches the end position of the travel section, the gripping control unit 62 outputs control signals that control the drive motors 250c of the slide devices 250A and 250B to move the first gripping mechanism 253A and the second gripping mechanism 253B from the contact position to the retracted position (see Figure 10), based on a drive command.

[0051] The gripping drive control device 65 controls the drive of either or both of the drive motors 250c of the slide devices 250A and 250B based on the control signal from the gripping control unit 62.

[0052] [Synchronized movement of transport trolleys using synchronized trolleys] Figure 9 is a flowchart showing the control procedure for the movement of the synchronous trolley 2 and its connection to the transport trolley 1. Figure 10 is a front view showing the synchronous trolley 2 in a standby state. Figure 11 is a front view showing the synchronous trolley 2 in a ready state for synchronous movement with the transport trolley 1.

[0053] As shown in Figure 9, the main control unit 63 determines whether the synchronous trolley 2 is in the standby position (step S1). In step S1, if the main control unit 63 does not determine that the synchronous trolley 2 is in the standby position (NO), it moves the synchronous trolley 2 to the standby position (step S10). Also, in step S1, if the main control unit 63 determines that the synchronous trolley 2 is in the standby position (YES), the gripping control unit 62 drives the first gripping mechanism 253A to the contact position, as shown in Figure 11 (step S2). The gripping control unit 62 determines whether the driving of the first gripping mechanism 253A has been completed (step S3). If the gripping control unit 62 does not determine that the driving of the first gripping mechanism 253A has been completed (NO), it repeats the determination.

[0054] If the gripping control unit 62 determines that the drive of the first gripping mechanism 253A is complete (YES), the power control unit 61, gripping control unit 62, and main control unit 63 perform control processing to synchronize the movement of the synchronous trolley 2 with the transport trolley 1 (step SS4). In the synchronous movement control processing, when the main control unit 63 confirms that the value detected from the load sensor 258A (first load sensor) is above a certain value, it outputs a drive command to the power control unit 61 and the gripping control unit 62. The power control unit 61 drives the synchronous trolley 2 in the direction of travel (X1 direction), and the gripping control unit 62 drives the second gripping mechanism 253B to the contact position based on the drive command, as shown in Figure 5. This starts the synchronous movement of the synchronous trolley 2 with the transport trolley 1.

[0055] During synchronous operation, the calculation control unit 611 outputs a control variable based on the deviation between the detected value of the load sensor 258A and the detected value of the load sensor 258B. The speed control unit 612 outputs a command speed based on the control variable from the calculation control unit 611. As a result, the synchronous trolley 2 is driven and controlled to run synchronously with the transport trolley 1.

[0056] The calculation control unit 611 may output a control variable such that the deviation becomes 0, that is, both detected values ​​become equal. Also, if the load in the X1 direction and the load in the X2 direction are within a predetermined range, the deviation between the two loads will fall within a specified range, and the synchronous trolley 2 can be considered to be running almost synchronously with the transport trolley 1. Alternatively, the control variable may be increased so that the speed of the synchronous trolley 2 increases when the load in the X1 direction is greater than or equal to the load in the X2 direction, and decreased so that the speed of the synchronous trolley 2 decreases when the load in the X1 direction is less than the load in the X2 direction.

[0057] When the main control unit 63 recognizes that the synchronous bogie 2 has reached its terminal position, it outputs a drive command to the gripping control unit 62. Based on this drive command, the gripping control unit 62 moves the first gripping mechanism 253A to the retracted position, as shown in Figure 11. After the drive of the first gripping mechanism 253A is completed, the power control unit 61 temporarily stops the synchronous bogie 2.

[0058] The main control unit 63 then determines whether or not the synchronous bogie 2 has finished stopping (step S5). In step S5, if the power control unit 61 does not detect that the synchronous bogie 2 has finished stopping (NO), it repeats the determination. Also in step S5, if the main control unit 63 determines that the synchronous bogie 2 has finished stopping (YES), it outputs a drive command to the gripping control unit 62. Based on the drive command, the gripping control unit 62 moves the second gripping mechanism 253B to the retracted position as shown in Figure 10 (step S6). The gripping control unit 62 repeats the determination until it has finished driving the second gripping mechanism 253B (NO). When the gripping control unit 62 determines that it has finished driving the second gripping mechanism 253B (YES), the main control unit 63 moves the synchronous bogie 2 back to the standby position (step S8).

[0059] Furthermore, the main control unit 63 determines whether the synchronous bogie 2 is in the standby position (step S9). In step S9, if the main control unit 63 does not determine that the synchronous bogie 2 is in the standby position (NO), the determination is repeated. Also, in step S9, if the main control unit 63 determines that the synchronous bogie 2 is in the standby position (YES), one cycle of synchronous operation is completed.

[0060] As described above, the transport system 100 according to this embodiment includes a gripping device 25 on which the synchronous trolley 2 grips the shaft 14 of the transport trolley 1, and a control device 6 that controls the movement of the first gripping mechanism 253A and the second gripping mechanism 253B of the gripping device 25, and the movement of the synchronous trolley 2. As a result, the power unit 23 is controlled so that the synchronous trolley 2 moves at the same speed as the transport trolley 1 based on the load detected by the load sensors 258A and 258B. Therefore, the synchronous movement of the synchronous trolley 2 with respect to the transport trolley 1 can be controlled to a high degree. Consequently, the load applied to the shaft 14 can be reduced when the gripping device 25 is gripping the shaft 14. Thus, the load placed on the drive unit of the transport trolley 1 by the synchronous trolley 2, which is traveling while connected to the transport trolley 1, can be reduced.

[0061] Incidentally, conventional conveying systems are known in which the transport cart and the synchronous cart run parallel to each other without being connected. In such conveying systems, synchronization between the transport cart and the synchronous cart is ensured by a control device using sensors and communication. In such conveying systems, the accuracy of the control that allows the synchronous cart to follow the transport cart is low, and in particular, if the transport cart stops during process work, the accuracy of the control that allows the synchronous cart to follow the stop of the transport cart is low, and the stopping position of the synchronous cart tends to deviate from the stopping position of the transport cart. As a result, there was a possibility of damaging transported items during assembly.

[0062] In contrast, in the transport system 100, since the gripping device 25 physically grips the shaft 14, even if the transport trolley 1 stops, the positional relationship between the transport trolley 1 and the synchronous trolley 2 does not change, and damage to the transported object during assembly can be reduced. Furthermore, if the load detected by the load sensor 258A exceeds a predetermined value, the synchronous trolley 2 may be stopped. This reduces the time during which a large load is applied to the shaft 14 of the transport trolley 1. Therefore, the burden on the shaft 14 can be reduced.

[0063] In this embodiment, as shown in Figure 1, the manufacturing line only needs to have at least a straight section, and the entire line may be formed in a loop shape. Also in this embodiment, as shown in Figure 1, the section on which the synchronous trolley 2 travels also only needs to have at least a straight section, and the entire line may be formed in a loop shape. In this case, when the synchronous trolley 2 finishes synchronous travel with the transport trolley 1, it does not travel in the return direction (X2 direction) to return to the standby position as described above, but instead continues traveling to the standby position. Furthermore, the section on which synchronous travel is performed may include a curved section. In that case, the synchronous control of this embodiment does not need to consider the difference in travel distance between the transport trolley and the synchronous trolley due to the difference in radius of curvature, and complex control is not required.

[0064] [Variation] In this embodiment, a configuration in which the synchronous trolley 2 is equipped with a shaft body 14 as a protruding body has been described. The shape of the shaft body 14 is not limited to an axle (cylindrical, rectangular prism, etc.), and can be any shape as long as the synchronous trolley 2 can engage with the transport trolley 1. Furthermore, the contact between the synchronous trolley 2 and the transport trolley 1 may be structured such that the front and rear ends of the transport trolley 1 are sandwiched by separate arms. Alternatively, the transport trolley 1 may be equipped with a structure that grips the synchronous trolley 2. In this embodiment, a configuration in which the gripping device 25 is equipped with cushioning mechanisms 255A and 255B has been described. However, the gripping device 25 does not have to be equipped with these cushioning mechanisms 255A and 255B. In such a gripping device 25, the load on the shaft body 14 will be greater, but the positional relationship between the transport trolley 1 and the synchronous trolley 2 will be maintained more firmly, so damage to the transported object can be further reduced.

[0065] [Examples of implementation using software] The functions of the control device 6 (hereinafter referred to as "device") are programs that cause the device to function as a computer, and these programs can be realized by programs that cause the computer to function as each control block of the device (particularly the power control unit 61, the gripping control unit 62, and the main control unit 63).

[0066] In this case, the device comprises a computer having at least one processor and at least one storage device (e.g., memory) as hardware for executing the program. By executing the program using this processor and storage device, each of the functions described in the above embodiment is realized.

[0067] The above program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the above device. In the latter case, the program may be supplied to the above device via any wired or wireless transmission medium.

[0068] 〔summary〕 As described above, the transport system according to embodiment 1 of the present invention is a transport system comprising a transporting mobile body and a synchronous mobile body that moves in synchronization with the transporting mobile body, wherein the synchronous mobile body includes a power unit that generates power for travel, a contact part that contacts the transporting mobile body so that the power of the transporting mobile body is transmitted, a detection unit that detects the load applied to the contact part by the transporting mobile body, and a power control unit that controls the power unit based on the load detected by the detection unit.

[0069] With the above configuration, the synchronous moving body moves under its own power using the power unit, so the synchronous moving body is not pulled by the transport moving body. This reduces the load on the transport moving body. Therefore, the load on the drive mechanism of the transport moving body can be reduced.

[0070] In the transport system according to embodiment 2 of the present invention, in embodiment 1, the detection unit detects the load applied to the contact portion in the direction of travel of the transported moving body and in the opposite direction.

[0071] According to the above configuration, the load on the transporting body changes in the direction of travel or in the opposite direction as the speed of the transporting body increases or decreases. Therefore, by controlling the power unit based on the changed load, the speed of the synchronized transporting body can be easily controlled to synchronize with the transporting body.

[0072] In the transport system according to embodiment 3 of the present invention, in embodiment 2, the power control unit controls the power unit such that the load in the direction of travel and the load in the opposite direction, as detected by the detection unit, become equal.

[0073] According to the above configuration, if the load in the direction of travel of the transporter is equal to the load in the opposite direction of travel, then the speed of the transporter and the speed of the synchronous transporter become equal. Therefore, the speed of the synchronous transporter can be precisely controlled to synchronize with the transporter.

[0074] In the transport system according to embodiment 4 of the present invention, in embodiment 2, the power control unit controls the power unit so that the load in the direction of travel and the load in the opposite direction detected by the detection unit are each within a predetermined range.

[0075] Even if the speed of the transporter and the speed of the synchronous transporter do not match, if an acceptable load is applied to the transporter, it may be considered that there is no practical inconvenience. According to the above configuration, in such cases, if the load in the direction of travel of the transporter and the load in the opposite direction of travel are within a predetermined range, the synchronous transporter can be considered to be moving in sync with the transporter, and its speed can be controlled to maintain that speed.

[0076] In the transport system according to embodiment 5 of the present invention, in any of embodiments 2 to 4 above, the power control unit controls the power unit to stop the synchronous moving body when the load in the direction of travel or the load in the opposite direction of travel detected by the detection unit is greater than or equal to a predetermined value.

[0077] According to the above configuration, if the transported moving body comes to a sudden stop, an excessive load is applied to the contact point in the direction of travel or in the opposite direction, depending on the form in which the contact point contacts the transported moving body. Therefore, if the synchronized moving body stops when the load in the direction of travel or in the opposite direction exceeds a predetermined value, the time during which a large load is applied to the contact point can be shortened. Consequently, the burden on the contact point can be reduced.

[0078] A conveying system according to embodiment 6 of the present invention, in any of embodiments 1 to 4 above, wherein the synchronous moving body travels parallel to the conveying moving body, the conveying moving body has a projection that protrudes toward the synchronous moving body, the contact portion comprises a first contact body that abuts the projection on the forward side in the direction of travel of the conveying moving body, a second contact body that abuts the projection on the rear side in the direction of travel of the conveying moving body, a first gripping mechanism that moves the first contact body between a contact position on the path through which the projection body passes and a retracted position away from the path, and the second contact body between the contact position and the retracted position The system further comprises a second gripping mechanism that moves between the first and second contact bodies, and the detection unit comprises a first detection unit that detects the load applied to the first contact body and a second detection unit that detects the load applied to the second contact body, and the conveying system further comprises a gripping control unit that controls the first gripping mechanism to move from the retracted position to the contact position, and when the load applied to the first contact body is detected by the first detection unit, controls the second gripping mechanism to move from the retracted position to the contact position so that the first and second contact bodies grip the protruding body.

[0079] According to the above configuration, while the synchronous moving body is in standby mode, the first contact body is positioned in advance at the contact point where the protruding body of the transport moving body will pass. When the transport moving body moves to the standby position of the synchronous moving body and the protruding body comes into contact with the first contact body, the second contact body is moved to come into contact with the protruding body. This allows the synchronous moving body to smoothly come into contact with the protruding body from its standby state before synchronized transport with the transport moving body.

[0080] [Additional Notes] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Furthermore, embodiments obtained by appropriately combining the technical means disclosed in each embodiment are also included within the technical scope of the present invention. [Explanation of Symbols]

[0081] 1. Transport cart (transporting mobile device) 2 Synchronized trolley (synchronous moving body) 14 Shaft body (protruding body) 23 Power plant (power part) 24A Position Sensor (Detection Unit) 25 Gripping device (contact part) 61 Power Control Unit 62 Gripping control unit 100 Conveyor Systems 253A 1st gripping mechanism 253B Second gripping mechanism 257A Contact plate (contact part, first contact body) 257B Contact plate (contact part, second contact body) 258A Load sensor (detection unit, first detection unit) 258B Load sensor (detection unit, second detection unit)

Claims

1. A transport system comprising a transporting body and a synchronous moving body that moves in sync with the transporting body, The aforementioned synchronous moving body is A power unit that generates power for movement, A contact portion that contacts the transporting body so as to transmit power to the transporting body, A detection unit for detecting the load applied to the contact portion by the transporting body, Based on the load detected by the detection unit, a power control unit controls the power unit, A transport system having

2. The transport system according to claim 1, wherein the detection unit detects the load applied to the contact portion in the direction of travel of the transported moving body and in the opposite direction.

3. The transport system according to claim 2, wherein the power control unit controls the power unit so that the load in the direction of travel and the load in the opposite direction detected by the detection unit become equal.

4. The transport system according to claim 2, wherein the power control unit controls the power unit so that the load in the direction of travel and the load in the opposite direction detected by the detection unit are each within a predetermined range.

5. The transport system according to any one of claims 1 to 4, wherein the power control unit controls the power unit to stop the synchronous moving body when the load generated by the stopping of the transport moving body, as detected by the detection unit, is greater than or equal to a predetermined value.

6. The synchronous moving body moves in parallel with the transporting moving body, The transporting moving body has a protrusion that extends toward the synchronous moving body, The aforementioned contact portion is A first contact body that abuts the protruding body on the forward side in the direction of travel of the transporting moving body, A second contact body that abuts the protruding body on the rear side in the direction of travel of the transporting moving body, A first gripping mechanism moves the first contact body between a contact position on the path through which the protruding body passes and a retracted position away from the path, A second gripping mechanism moves the second contact body between the contact position and the retracted position, It further possesses, The detection unit includes a first detection unit for detecting the load applied to the first contact body, and a second detection unit for detecting the load applied to the second contact body. The aforementioned transport system is, The conveying system according to any one of claims 1 to 4, further comprising a gripping control unit that controls the first gripping mechanism to move from the retracted position to the contact position, and when the first detection unit detects a load applied to the first contact body, controls the second gripping mechanism to move from the retracted position to the contact position so that the first contact body and the second contact body grip the protruding body.

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