Self-propelled pallet transport device

Abstract

The purpose of the present invention is to provide a pallet self-propelled conveyance device which makes it possible to facilitate control and simplify the configuration needed for the control. The pallet self-propelled conveyance device: includes a conveyance path installed along a prescribed route, and a self-propelled pallet that is self-propelled along the conveyance path; and conveys an object to be conveyed by placing the object to be conveyed on the self-propelled pallet and causing the pallet to self-propel along the conveyance path. The self-propelled conveyance device is characterized in that: a plurality of points are set at prescribed positions on the conveyance path; a control means is installed at each of the plurality of points; a control means is also installed on the self-propelled pallet; and the self-propelled pallet self-propels while performing communication between the control means of each point and the control means of the self-propelled pallet.

Description

Industrial Application Field , , , , , ,

[0004] , , , , , , ,

[0001] The present invention relates to a pallet self - propelled transport device, and particularly relates to an invention devised so as to facilitate control and simplify the configuration required for control. Prior Art

[0002] As for disclosing the configuration of a pallet self - propelled transport device that runs a self - propelled pallet to transport a conveyed object, for example, there are Patent Document 1, Patent Document 2, Patent Document 3, Patent Document 4, Patent Document 5, Patent Document 6, etc.

[0003] First, Patent Document 1 discloses an invention that runs a self - propelled work transport pallet along a pair of rails for work transport pallets and transports the work placed on the work placement part. Next, Patent Document 2 discloses an invention that runs a self - propelled work transport pallet along a track and transports the work placed on the work placement part. Next, Patent Document 3 discloses an invention that runs a transport vehicle along inner rails and outer rails and transports the work placed on a pallet installed on the transport vehicle. Next, Patent Document 4 discloses an invention that moves a pallet through roller conveyors provided on the left and right. Next, Patent Document 5 discloses an invention that appropriately connects motor - roller units to form an arbitrary transport path and transports a pallet. Furthermore, Patent Document 6 discloses an invention that connects pallet loader rail units to form an arbitrary track and transports a pallet.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

[0005] The above conventional configuration had the following problems. In other words, there was a problem in that controlling the self-propelled pallet to move along a predetermined route and perform predetermined tasks was cumbersome, and the configuration required for control was complex.

[0006] The present invention is based on these points and aims to provide a pallet self-propelled transport device that can facilitate control and simplify the configuration required for control. [Means for solving the problem]

[0007] To solve the above problems, the pallet self-propelled transport device according to claim 1 of the present invention comprises a transport path installed along a predetermined route, and a self-propelled pallet that moves along the transport path, and transports the transported object by placing the transported object on the self-propelled pallet and having it move along the transport path, wherein a plurality of points are set at predetermined positions on the transport path, control means are installed at the plurality of points, and control means are also installed on the self-propelled pallet, the self-propelled pallet moves while communicating with its own control means and the control means of each point, route information composed of a plurality of types of driving course information is prepared in advance, the control means of the points selects and transmits predetermined driving course information from the route information to the control means of the self-propelled pallet, and the self-propelled pallet moves based on that driving course information. Furthermore, the pallet self-propelled transport device according to claim 2 is characterized in that, in the pallet self-propelled transport device according to claim 1, a stop dog is installed at each of the above points, the self-propelled pallet stops at the point by detecting the stop dog installed at each of the above points, and communicates with the control means installed at that point. Furthermore, the pallet self-propelled transport device according to claim 3 is characterized in that, in the pallet self-propelled transport device according to claim 2, a home position is set as the point, route information is transmitted from the host computer to the home position control means, a route number that identifies predetermined driving course information is input to the home position control means, and the home position control means selects predetermined driving course information from the route information based on the input route number and transmits it to the self-propelled pallet control means. Furthermore, the pallet self-propelled transport device according to claim 4 is characterized in that, in the pallet self-propelled transport device according to claim 2, a station is set as the point, a robot is installed at the station, and the control means of the station determines whether or not a self-propelled pallet stopped at the station is the object of work at the station, and if it is determined that it is the object of work, it causes the robot to perform the work. Furthermore, the pallet self-propelled transport device according to claim 5 is a pallet self-propelled transport device according to claim 2, wherein a branching junction is installed in the transport path, a switching unit is installed in the branching junction, a branching point is installed as the point, and the control means for the branching point obtains information on the next point to which a self-propelled pallet stopped at a station will go, and switches the switching unit accordingly. Furthermore, the pallet self-propelled transport device according to claim 6 is the pallet self-propelled transport device according to claim 2, wherein a merging junction is installed in the transport path, and mergeA switching unit is installed at the junction, and a merging point is installed as the aforementioned point. The control means for the merging point is characterized by obtaining information on the next point that a self-propelled pallet stopped at the station will head to, and thereby switching the switching unit. Furthermore, the pallet self-propelled transport device according to claim 7 is characterized in that, in the pallet self-propelled transport device according to claim 2, a lifting section is installed in the transport path, a lifting point is installed as the point, and the control means for the lifting point communicates with the control means for a self-propelled pallet stopped at the lifting point. Furthermore, the pallet self-propelled transport device according to claim 8 is characterized in that, in the pallet self-propelled transport device according to claim 2, a lowering section is installed in the transport path, a lowering point is installed as the point, and the control means for the lowering point communicates with the control means for a self-propelled pallet stopped at the lowering point. Furthermore, the pallet self-propelled transport device according to claim 9 is characterized in that, in the pallet self-propelled transport device according to claim 1, the control means consists of a controller and an optical communication head. [Effects of the Invention]

[0008] As described above, the pallet self-propelled transport device according to claim 1 of the present application comprises a transport path installed along a predetermined route and a self-propelled pallet that moves along the transport path, and transports the transported object by placing the transported object on the self-propelled pallet and having it move along the transport path. In this pallet self-propelled transport device, a plurality of points are set at predetermined positions on the transport path, control means are installed at the plurality of points, and control means are also installed on the self-propelled pallet, the self-propelled pallet moves while communicating with its own control means and the control means of each point, route information composed of a plurality of types of driving course information is prepared in advance, the control means of the points selects and transmits predetermined driving course information from the route information to the control means of the self-propelled pallet, and the self-propelled pallet moves based on that driving course information, thus making control easier and simplifying the configuration required for control. Furthermore, according to the pallet self-propelled transport device of claim 2, in the pallet self-propelled transport device of claim 1, a stop dog is installed at each of the above points, and the self-propelled pallet stops at the point by detecting the stop dog installed at each of the above points and communicates with the control means installed at that point, thereby making control easier and simplifying the configuration required for control. Furthermore, according to the pallet self-propelled transport device of claim 3, in the pallet self-propelled transport device of claim 2, a home position is set as the point, route information is transmitted from the host computer to the home position control means, a route number that identifies predetermined driving course information is input to the home position control means, and the home position control means selects predetermined driving course information from the route information based on the input route number and transmits it to the self-propelled pallet control means, thereby simplifying control and streamlining the configuration required for control. Furthermore, according to the pallet self-propelled transport device of claim 4, in the pallet self-propelled transport device of claim 2, a station is set as the point, a robot is installed at the station, and the control means of the station determines whether or not a self-propelled pallet stopped at the station is the object of work at the station, and if it is determined that it is the object of work, the robot is made to perform the work, thereby simplifying control and simplifying the configuration required for control. Furthermore, according to the pallet self-propelled transport device of claim 5, in the pallet self-propelled transport device of claim 2, a branch junction is installed in the transport path, a switching unit is installed in the branch junction, a branch point is installed as the point, and the control means for the branch point obtains information on the next point to which the self-propelled pallet stopped at the station will go, and switches the switching unit accordingly, thereby simplifying control and simplifying the configuration required for control. Furthermore, according to the pallet self-propelled transport device of claim 6, in the pallet self-propelled transport device of claim 2, a merging junction is installed in the transport path, and merge A switching unit is installed at the junction, and a merging point is installed as the point mentioned above. The control means for the merging point obtains information on the next point that the self-propelled pallet stopped at the station will head to, and switches the switching unit accordingly, thereby simplifying control and streamlining the configuration required for control. Furthermore, according to the pallet self-propelled transport device of claim 7, in the pallet self-propelled transport device of claim 2, a lifting section is installed in the transport path, a lifting point is installed as the point, and the control means for the lifting point communicates with the control means for a self-propelled pallet stopped at the lifting point, thus making control easier and simplifying the configuration required for control. Moreover, according to the pallet self-propelled transport device according to claim 8, in the pallet self-propelled transport device according to claim 2, a descending section is provided in the transport path, a descending point is provided as the above-mentioned point, and the control means for the descending point communicates with the control means of the self-propelled pallet stopped at the descending point. Therefore, it is possible to facilitate control and simplify the configuration required for control. Moreover, according to the pallet self-propelled transport device according to claim 9, in the pallet self-propelled transport device according to claim 1, since the control means is composed of a controller and an optical communication head, it is possible to facilitate control and simplify the configuration required for control.

Brief Description of the Drawings

[0009] [Figure 1] It is a diagram showing a first embodiment of the present invention, and is a control system diagram showing the overall configuration of a pallet self-propelled transport device. [Figure 2] It is a diagram showing a first embodiment of the present invention, and is a perspective view showing a part of the transport path of a pallet self-propelled transport device. [Figure 3] It is a diagram showing a first embodiment of the present invention, and is a perspective view showing a part of the transport path (home position as an example) of a pallet self-propelled transport device and a self-propelled pallet. [Figure 4] It is a diagram showing a first embodiment of the present invention, and is a sectional view taken along the line IV-IV of FIG. 3. [Figure 5] It is a diagram showing a first embodiment of the present invention, and is an exploded perspective view of a part of the left roller conveyor provided in the transport path of a pallet self-propelled transport device. [Figure 6] It is a diagram showing a first embodiment of the present invention, and is a plan view of a part of the left roller conveyor provided in the transport path of a pallet self-propelled transport device. [Figure 7] It is a diagram showing a first embodiment of the present invention, and is a sectional view taken along the line VII-VII of FIG. 6. <"0000091"> [Figure 8] It is a diagram showing a first embodiment of the present invention, and is a sectional view taken along the line VIII-VIII of FIG. 6. [Figure 9]A diagram showing the first embodiment of the present invention, which is a perspective view of a self-propelled pallet viewed from obliquely above. [Figure 10] A diagram showing the first embodiment of the present invention, which is a perspective view of a self-propelled pallet viewed from obliquely below. [Figure 11] A diagram showing the first embodiment of the present invention, which is a table showing an example of route information transmitted from a host PC to a self-propelled pallet. [Figure 12] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing at the HOME of the transport path of a pallet self-propelled transport device. [Figure 13] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing at the HOME of the transport path of a pallet self-propelled transport device. [Figure 14] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing at the stations (ST1 to STn) of the transport path of a pallet self-propelled transport device. [Figure 15] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing at the branch junctions (Branch 1 to Branch n) of the transport path of a pallet self-propelled transport device. [Figure 16] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing at the merge junctions (Merge 1 to Merge n) of the transport path of a pallet self-propelled transport device. [Figure 17] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing on the self-propelled pallet side at the HOME of the transport path of a pallet self-propelled transport device. [Figure 18] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing at the stations (ST1 to STn) of the transport path of a pallet self-propelled transport device. [Figure 19] A diagram showing the first embodiment of the present invention, which is a flowchart showing information processing at the branch junctions (Branch 1 to Branch n) of the transport path of a pallet self-propelled transport device. <​This figure shows a first embodiment of the present invention and is a flowchart illustrating information processing at the junctions (junction 1 to junction n) of the transport path of a pallet self-propelled transport device. [Figure 21] This figure shows a second embodiment of the present invention, and is a perspective view showing a part of the transport path of a pallet self-propelled transport device. [Figure 22] This figure shows a second embodiment of the present invention, and is a perspective view showing a part of the transport path of a pallet self-propelled transport device (home position as an example) and a self-propelled pallet. [Figure 23] This figure shows a second embodiment of the present invention, and is a cross-sectional view taken along line XXIII-XXIII in Figure 22. [Figure 24] This figure shows a second embodiment of the present invention, a perspective view of a self-propelled pallet viewed from diagonally above. [Figure 25] This figure shows a second embodiment of the present invention, a perspective view of a self-propelled pallet viewed from diagonally below. [Figure 26] This figure shows a second embodiment of the present invention, and is a cross-sectional view taken from XXVI-XXVI in Figure 23. [Figure 27] This figure shows a second embodiment of the present invention, and is an exploded perspective view of a portion of the left-side roller conveyor installed in the transport path of a pallet self-propelled transport device. [Modes for carrying out the invention]

[0010] Hereinafter, a first embodiment of the present invention will be described with reference to Figures 1 to 20. Figure 1 is a control system diagram showing the overall configuration of a pallet self-propelled transport device according to this embodiment, in which a transport path 1 is provided along a predetermined route. A part of the transport path 1 is shown in Figures 2 and 3. The transport path 1 consists of a frame 3 and a left roller conveyor 5 and a right roller conveyor 7 installed on both the left and right sides of the cross-section of the frame 3. A self-propelled pallet 9 is installed on the transport path 1, and this self-propelled pallet 9 is driven along the transport path 1 in an appropriate direction to transport objects to be transported (not shown) placed on it.

[0011] As shown in Figure 4, the frame 3 has a roughly cylindrical shape, with a left roller conveyor mounting section 11 and a right roller conveyor mounting section 13 at both ends. A power supply projection 15 is provided at the bottom center of the frame 3. The frame 3 is an extruded product, and the left roller conveyor mounting section 11, the right roller conveyor mounting section 13, and the power supply projection 15 are integrally molded. Furthermore, T-grooves 17 and 19 are formed on the bottom of the frame 3, on both the left and right sides of the power supply projection 15. The frame 3 is fixed to any location using these T-grooves 17 and 19 and bolts and T-nuts (not shown). The frame 3 is set to a predetermined length, and by connecting frames 3 of this predetermined length, the transport path 1 of a predetermined route is formed. As shown in Figure 3, resin covers 6, 6 are attached to both ends of the frame 3, and when multiple frames 3 are connected, the resin covers 6 are interposed between the frames 3, 3. Furthermore, the power supply projection 15 is not present on the part of these covers 6.

[0012] As shown in Figure 1, the transport path 1 has a straight section 1a, which is constructed by connecting the frames 3 as described above. The transport path 1 is also provided with a corner (right corner), branch junctions (BR1~BRn), and merging junctions (JO1~JOn). The transport path 1 is also provided with an upward section (UP) and a downward section (DOWN). As shown in Figure 2, a corner unit 21 is used at the corner (right corner). The corner unit 21 is equipped with multiple balls 21a, and the self-propelled pallet 9 moves on these multiple balls 21a. As shown in Figure 2, a switching unit 23 is used at the branch junctions (BR1~BRn) and merging junctions (JO1~JOn). Elevators (not shown) are installed at the upward section (UP) and downward section (DOWN).

[0013] The left roller conveyor 5, as previously described, is installed in the left roller conveyor installation section 11 of the frame 3, and the right roller conveyor 7 is installed in the right roller conveyor installation section 13.

[0014] First, let's explain the configuration of the left-side roller conveyor 5 described above. As shown in Figure 4, there is a cartridge 41, which consists of a resin cartridge frame 42 and a plurality of rollers 43 that are detachably and rotatably attached to the cartridge frame 42. That is, as shown in Figures 5 and 6, the cartridge frame 42 has a plurality of roller through-holes 44 (three in the case shown in Figures 5 and 6) separated by ribs 45. The plurality of rollers could be, for example, one, two, three, or seven.

[0015] Regarding the ribs 45 mentioned above, as shown in Figure 6, there is one rib 45 at one end of the cartridge frame 42, while two ribs 45, 45 are connected in the middle. This is so that by cutting the cartridge frame 42 in the middle of the two ribs 45, 45, a single rib 45 remains on each end. For example, a resin cartridge frame 42 is molded in a long length and then cut to an arbitrary length. In this case, a single rib 45 remains on both ends of the cut.

[0016] As shown in Figure 5, the roller 43 is rotatably held on the shaft 47 via left and right bearings 46, 46. Both ends of the shaft 47 are held by the shaft holding portions 49, 49 of the cartridge frame 42. The shaft holding portion 49 is provided on the cartridge frame 42 as shown in Figure 7, with a lower shaft support portion 51 that supports the shaft 47 from below. As shown in Figure 8, a part of the lower support portion 51 is extended in a tongue shape. In addition, an upper shaft support portion 53 is provided behind the lower shaft support portion 51 that supports the shaft 47 from above. The upper support portion 53 is provided in a state where it protrudes from both sides so that its diameter is smaller than the outer diameter of the shaft 47. The ends of the shaft 47 are held between these lower shaft support portion 51 and upper shaft support portion 53 from above and below. When attaching the roller 43, which is rotatably held on the shaft 47, to the cartridge frame 42, the cartridge frame 42 is elastically deformed so that the upper side is convex, causing it to bend slightly and slightly widening the space between the shaft holding parts 49, 49 on both sides, into which the roller 43, which is rotatably held on the shaft 47, is dropped. By releasing the bending, both ends of the shaft 47 are held in place from above and below by the lower shaft support part 51 and the upper shaft support part 53 of the shaft holding parts 49, 49 on both sides.

[0017] As shown in Figures 4 and 5, engaging portions 61, 61 are intermittently provided on both the left and right sides of the cartridge frame 42. On the other hand, the left roller conveyor installation section 11 is provided with engaging portions 63, 63 that engage with the engaging portions 61, 61. The left roller conveyor installation section 11 is also provided with a hollow section 65 that houses the rollers 43 in a rotatable state. A cartridge 41 equipped with multiple rotatable rollers 43 is installed so as to cover the left roller conveyor installation section 11 from above. As a result, the engaging portions 61, 61 engage with the engaging portions 63, 63 and the cartridge 41 is installed on the left roller conveyor installation section 11. The left roller conveyor 5 is constructed by installing the required number of cartridges 41 on the left roller conveyor installation section 11.

[0018] The right-side roller conveyor 7 has a similar configuration. Furthermore, the switching unit 23, which has already been described, is configured with the left-side roller conveyor 5 and the right-side roller conveyor 7 installed on a predetermined short frame 3, and is rotatable.

[0019] As shown in Figure 4, power supply conductors 71, 71 are installed on both the left and right outer surfaces of the power supply projection 15. In addition, a rail 73 that increases the driving force of the self-propelled pallet 9 is attached on top of the power supply projection 15. A resin plate 74 is fitted into the left side of the rail 73 in Figure 4. This is to increase the frictional force between it and the drive roller and driven roller, which will be described later.

[0020] Next, the configuration of the self-propelled pallet 9 will be described. As shown in Figures 9 and 10, there is a pallet body 81, which is roughly rectangular in shape, and its cross-section is an inverted U shape. A drive motor 83 is installed on one of the four corners on the front side of the pallet body 81. The rotating shaft of the drive motor 83 (not shown) passes through the pallet body 81 and, as shown in Figure 10, protrudes and is positioned on the back side of the pallet body 81, where a drive roller 85 is fixed.

[0021] As shown in Figure 10, driven rollers 87, 89, and 91 are attached separately from the drive roller 85. The driven roller 87 is rotatably attached to a bolt 93 via a bush 94. The tip of the bolt 93 protrudes and is positioned on the front side of the pallet body 81, and a nut 97 is screwed onto it via a washer 95.

[0022] The driven roller 91 is rotatably attached to a bolt 99 via a bush 100. The tip of the bolt 99 protrudes and is positioned on the front side of the pallet body 81, and a nut 101 is screwed onto it, thereby rotatably fixing the driven roller 91 to the bolt 99. An arc groove 103 is formed in the pallet body 81, and the fastening portion of the bolt 99 and nut 101 is configured to move along this arc groove 103.

[0023] One end of the arm 105 is interposed between the bolt head 99a of the bolt 99 and the bush 100. A bracket 107 is provided on the back side of the pallet body 81, and the other end of the arm 105 is fixed to the bracket 107 by a bolt 109, a nut 111, and a bush 112.

[0024] One end of a coil spring 121 is fixed to the tip of the bolt 99. Another bolt 123 protrudes from the back to the front of the pallet body 81, and nuts 125 and 127 are screwed onto it. The other end of the coil spring 121 is connected to the bolt 123 between the nuts 125 and 127. The driven roller 91 is biased towards the driven roller 87 by the spring force of the coil spring 121.

[0025] The driven roller 89 is similar, and is rotatably attached to the bolt 131 via a bush 132. The tip of the bolt 131 protrudes and is positioned on the front side of the pallet body 81, and a nut 133 is screwed onto it, thereby rotatably fixing the driven roller 89 to the bolt 131. An arc groove 135 is formed in the pallet body 81, and the fastening portion of the bolt 131 and the nut 133 is configured to move along this arc groove 135.

[0026] One end of the arm 137 is interposed between the bolt head 131a of the bolt 131 and the bush 132. A bracket 139 is provided on the back side of the pallet body 81, and the other end of the arm 137 is fixed to the bracket 139 by a bolt 141, a nut (not shown), and a bush.

[0027] One end of a coil spring 143 is fixed to the tip of the bolt 131. Another bolt 145 protrudes from the back to the front of the pallet body 81, and nuts 147 and 149 are screwed onto it. The other end of the coil spring 143 is connected to the bolt 145 between the nuts 147 and 149. The driven roller 89 is biased toward the drive roller 85 by the spring force of the coil spring 143.

[0028] The drive roller 85 and driven rollers 87, 89, and 91 clamp and press the rail 73 from both sides, and in this state, the drive roller 85 is driven by the drive motor 83, causing the self-propelled pallet 9 to move along the rail 73.

[0029] As shown in Figure 10, electrodes 161, 163, 165, and 167 are installed in pairs on each side of the power supply projection 15 on the pallet body 81. Elongated holes 169, 171, 173, and 175 are formed in the pallet body 81, penetrating through both sides. Blocks 177, 179, 181, and 183 are movably attached to the elongated holes 169, 171, 173, and 175. The electrodes 161, 163, 165, and 167 are rotatably attached to the blocks 177, 179, 181, and 183 by bolts 185, 187, 189, and 191 via bushings (not shown).

[0030] A coil spring 193 is stretched between block 177 and block 181, and a coil spring 195 is stretched between block 179 and block 183. As a result, electrodes 161, 163, 165, and 167 are pressed against power supply conductors 71, 71. Power is supplied to the self-propelled pallet 9 via the power supply conductors 71, 71 and electrodes 161, 163, 165, and 167.

[0031] Frames 201, 203, 205, and 207 are installed at the four corners of the front surface of the pallet body 81. As shown in Figure 4, a transported object placement section 211 is mounted on the frames 201, 203, 205, and 207, and a transported object (not shown) is placed on this transported object placement section 211. A circuit board 213 is housed inside the transported object placement section 211. Various electrical and electronic components, sensors, etc. are mounted on the circuit board 213.

[0032] As shown in Figure 4, a stop dog 221 is installed at the bottom of a predetermined position on the frame 3, while a stop dog detection sensor 223 is installed on the pallet body 81 side of the self-propelled pallet 9. When the self-propelled pallet 9 moves under its own power and reaches the predetermined position, the stop dog detection sensor 223 detects the stop dog 221, causing the self-propelled pallet 9 to stop. In addition, a high-speed dog (START) 225a and a high-speed dog (END) 225b are installed at the bottom of a predetermined position on the frame 3, while a high-speed dog detection sensor 227 is installed on the pallet body 81 side of the self-propelled pallet 9. When the self-propelled pallet 9 moves under its own power and reaches the predetermined position, the high-speed dog detection sensor 227 detects the high-speed dog (START) 225a and switches from low speed to high speed. When the high-speed dog detection sensor 227 detects the high-speed dog (END) 225b while the pallet is switched to high speed, it switches from high speed to low speed. In this embodiment, magnetic sensors are used as the stop dog detection sensor 223 and the high-speed dog detection sensor 227. Alternatively, one could consider a method in which high-speed dogs are continuously installed within a predetermined area, and the system operates at high speed while detecting these dogs, and switches to low speed when no high-speed dogs are detected.

[0033] Furthermore, as shown by the dashed line in Figure 3, the self-propelled pallet 9 has an optical communication unit 229 built into it, which consists of a controller 231 and a communication head 233.

[0034] As shown in Figure 1, a home position (HOME) is provided on the transport path 1, and a stop dog 221 is installed at this home position (HOME). A host PC 241 and an optical communication unit 243 are also installed at the home position (HOME). The optical communication unit 243 is configured to include a controller 245 and a communication head 247. Figure 3 illustrates the optical communication unit 243 at the home position (HOME). When the self-propelled pallet 9 moves to the home position (HOME), the stop dog detection sensor 223 detects the stop dog 221, causing the self-propelled pallet 9 to stop. In this state, necessary communication and information processing are performed between the host PC 241, the controller 245 of the optical communication unit 243, and the controller 231 of the optical communication unit 229 of the self-propelled pallet 9. Furthermore, the optical communication unit 243 described above is substantially the same as the optical communication unit 229 installed on the self-propelled pallet 9 side.

[0035] As shown in Figure 1, stations (ST1 to STn) are set up at appropriate locations along the transport path 1, and each station is equipped with a stop dog 221, as well as an arbitrary robot (MC1 to MCn) and an optical communication unit 243. The robots (MC1 to MCn) are equipped with control devices such as PLCs. When the self-propelled pallet 9 moves to a station (ST1 to STn), the stop dog 221 is detected by the stop dog detection sensor 223, causing the self-propelled pallet 9 to stop. In this state, necessary communication and information processing are performed between the PLC of the robots (MC1 to MCn), the controller 245 of the optical communication unit 243, and the controller 231 of the optical communication unit 229 of the self-propelled pallet 9. Simultaneously, predetermined tasks are performed by the robots (MC1 to MCn) as needed.

[0036] Furthermore, branching points (minutes 1 to n) are set at appropriate locations along the transport path 1 to correspond to the branching junctions (BR1 to BRn) described earlier. Stopping dogs 221, controllers (CNTL), and optical communication units 243 are installed at these branching points (minutes 1 to n). When the self-propelled pallet 9 moves to a branching point (minutes 1 to n), the stopping dog detection sensor 223 detects the stopping dog 221, causing the self-propelled pallet 9 to stop. In this state, necessary communication and information processing are performed between the controller (CNTL), the controller 245 of the optical communication unit 243, and the controller 231 of the optical communication unit 229 of the self-propelled pallet 9. Simultaneously, the switching units 23 of the branching junctions (BR1 to BRn) perform switching operations as needed.

[0037] Similarly, merging points (merging 1 to merging n) are set at appropriate locations along the transport path 1, corresponding to the merging junctions (JO1 to JOn) described earlier. Stop dogs 221 are installed at these points, along with a controller (CNTL) and an optical communication unit device 243. When the self-propelled pallet 9 moves to a merging point (merging 1 to merging n), the stop dog detection sensor 223 detects the stop dog 221, causing the self-propelled pallet 9 to stop. In this state, necessary communication and information processing take place between the controller (CNTL), the controller 245 of the optical communication unit 243, and the controller 231 of the optical communication unit 229 of the self-propelled pallet 9. Simultaneously, the switching unit 23 of the merging junctions (JO1 to JOn) performs a switching operation as needed.

[0038] At appropriate locations along the transport path 1 described above, lifting points (up 1 to up n) are set to correspond to the lifting section (UP) already explained, and a stop dog 221, along with a controller (CNTL) and an optical communication unit device 243, are installed. When the self-propelled pallet 9 moves to a lifting point (up 1 to up n), the stop dog detection sensor 223 detects the stop dog 221, causing the self-propelled pallet 9 to stop. In this state, necessary communication and information processing are performed between the controller (CNTL), the controller 245 of the optical communication unit 243, and the controller 231 of the optical communication unit 229 of the self-propelled pallet 9. Simultaneously, a predetermined lifting / lowering operation is performed by the elevator. Furthermore, an optical communication unit device 243 is also installed in the above-mentioned upward section (UP).

[0039] At appropriate locations along the transport path 1 described above, descent points (down 1 to down n) are set to correspond to the descent section (DOWN) already explained, and a stop dog 221, along with a controller (CNTL) and an optical communication unit device 243, are installed. When the self-propelled pallet 9 moves to a descent point (down 1 to down n), the stop dog detection sensor 223 detects the stop dog 221, causing the self-propelled pallet 9 to stop. In this state, necessary communication and information processing take place between the controller (CNTL), the controller 245 of the optical communication unit 243, and the controller 231 of the optical communication unit 229 of the self-propelled pallet 9. Simultaneously, a predetermined upward / downward movement is performed by the elevator. Furthermore, an optical communication unit device 243 is also installed in the aforementioned DOWN section.

[0040] As previously explained, the memory of the host PC 241 stores route information as shown in Figure 11. In Figure 11, the vertical axis shows the route number, and the horizontal axis shows whether or not work is being performed at each station (ST1 to STn). The controller 245 of the optical communication unit 243 at the above stations (ST1 to STn) selects and transmits route information with a predetermined route number from the route information shown in Figure 11 to the self-propelled pallet 9 that has arrived at the home position (HOME). The self-propelled pallet 9 then moves autonomously based on the route information of the received route number. In Figure 11, the vertical axis for "ST2" displays either "ST2," "Pass," or "-." "ST2" means that a predetermined task is performed at station (ST2), "Pass" means that the train passes through station (ST2) but no task is performed, and "-" means that the train does not pass through station (ST2) at all.

[0041] Furthermore, at each station (ST1 to STn), node information is output from the optical transmission unit 243 to each self-propelled pallet 9. The above node information is used to identify each station (ST1 to STn). The self-propelled pallet 9 compares the pre-entered driving course information with the node information to determine whether or not there is work at that station (ST1 to STn), and outputs a pass / stop signal.

[0042] Based on the above structure, we will explain its function. First, the processing at the home position (HOME) will be explained with reference to Figures 12 and 13. When the self-propelled pallet 9 moves to the home position (HOME) and the stop dog detection sensor 223 detects the stop dog 221, the self-propelled pallet 9 stops. In this state, communication takes place between the host PC 241, the optical communication unit 243, and the optical communication unit 229 of the self-propelled pallet 9. Figures 12 and 13 show the contents of the information processing in the optical communication unit 243.

[0043] Figures 12 and 13 show the information processing in the controller 245 of the optical communication unit 243. First, as shown in Figure 12, it is determined whether or not route information has been received from the host PC 241 (step S1). The above route information refers to all of the route information shown in Figure 11. If it is determined that route information has been received, the process proceeds to step S2, and the received route information is written to memory.

[0044] Next, as shown in Figure 13, it is determined whether or not a route number has been received from an external device (e.g., host PC 241, barcode / QR code (registered trademark) reader, etc.) (step S11). If a route number has been received, the system proceeds to step S12. In step S12, the route number is confirmed. Next, the system proceeds to step S13 to determine whether or not the self-propelled pallet 9 has arrived. If it is determined that it has arrived, the system proceeds to step S14 to register the route information with the predetermined route number to the self-propelled pallet 9.

[0045] Next, the processing at the stations (ST1~STn) will be explained with reference to Figure 14. Figure 14 shows the information processing at the controller 245 of the optical communication unit 243 of the stations (ST1~STn). First, in step S21, it is determined whether or not the self-propelled pallet 9 has arrived. If it is determined that it has arrived, the process proceeds to step S22. In step S22, node information is transmitted to the self-propelled pallet 9. Next, the process proceeds to step S23 to determine whether or not a pass / stop signal has been received. If a pass signal is received, the process proceeds to step S24, and a departure command is output to the self-propelled pallet 9. On the other hand, if it is determined in step S23 that the pallet has stopped, the process proceeds to step S25. In step S25, station work is performed by the robots (MC1~MCn). Next, the process proceeds to step S26. Step S2 6 Next, it is determined whether the station operation is complete or not. If it is determined that it is complete, the process proceeds to step S24. Furthermore, during the information processing in steps S25 and S26, necessary information processing is performed between the robots (MC1 to MCn) and their PLCs.

[0046] Next, the processing at the branching point (minutes 1 to n) will be explained with reference to Figure 15. Figure 15 shows the information processing in the controller 245 of the optical communication unit 243 at the branching point (minutes 1 to n). First, in step S31, it is determined whether or not the self-propelled pallet 9 has arrived. If it is determined that the self-propelled pallet 9 has arrived, the process proceeds to step S32. In step S32, node information is transmitted to the self-propelled pallet 9. Next, the process proceeds to step S33. In step S33, it is determined whether or not the next node information has been received. If it is determined that the next node information has been received, the process proceeds to step S34. In step S34, the orientation of the switching unit 23 is changed. Next, the process proceeds to step S35, and a departure command is output to the self-propelled pallet 9. Furthermore, during the processing of step S34, communication with the controller (CNTL) and necessary information processing are performed.

[0047] Next, the processing at the merging points (merging 1 to merging n) will be explained with reference to Figure 16. Figure 16 shows the information processing in the controller 245 of the optical communication unit 243 at the merging points (merging 1 to merging n). First, in step S41, it is determined whether or not the self-propelled pallet 9 has arrived. If it is determined that the self-propelled pallet 9 has arrived, the process proceeds to step S42. In step S42, an ID is requested from the self-propelled pallet 9. Next, the process proceeds to step S43, where it is determined whether or not an ID has been received from the self-propelled pallet 9. If it is determined that an ID has been received, the process proceeds to step S44. In step S44, it is determined whether or not there is another self-propelled pallet 9 within the merging junction (JO1 to JOn). If it is determined that there is no other self-propelled pallet 9, the process proceeds to step S45. In step S45, a departure command is output to the self-propelled pallet 9. Furthermore, during the processing of step S44, communication with the controller (CNTL) and necessary information processing are performed.

[0048] Next, we will explain the information processing in the controller 231 of the optical communication unit 229 on the self-propelled pallet 9 side at the home position (HOME), stations (ST1~STn), branching points (min1~minn), and merging points (merging1~mergingn) that have already been explained.

[0049] First, the process at the home position (HOME) will be explained with reference to Figure 17. First, in step S51, it is determined whether or not route information has been received. If it is determined that route information has been received, the process proceeds to step S52. In step S52, the route information is written to memory. Next, the process proceeds to step S53, where it is determined whether or not a departure command has been received. If it is determined that a departure command has been received, the process proceeds to step S54, where the departure is executed.

[0050] Next, the processing at the stations (ST1 to STn) will be explained with reference to Figure 18. First, in step S61, it is determined whether or not node information has been received from the station (ST1 to STn). If it is determined that node information has been received, the process proceeds to step S62. In step S62, a process is performed to compare it with the route information. Next, the process proceeds to step S63 to send a pass / stop message to the station. Next, the process proceeds to step S64 to determine whether or not a departure command has been received. If it is determined that a departure command has been received, the process proceeds to step S65 to execute the departure.

[0051] Next, referring to Figure 19, the processing at the branching points (minutes 1 to n) will be explained. First, in step S71, it is determined whether or not node information has been received from the branching point (minutes 1 to n). If it is determined that node information has been received, the process proceeds to step S72. In step S72, the next node information is transmitted. Next, the process proceeds to step S73, where it is determined whether or not a departure command has been received. If it is determined that a departure command has been received, the process proceeds to step S74, and the departure is executed.

[0052] Next, referring to Figure 20, the processing at the merging points (merging 1 to merging n) will be explained. First, in step S81, it is determined whether or not there is a request for a pallet ID from the merging point (merging 1 to merging n). If it is determined that there is a request for a pallet ID, the process proceeds to step S82. In step S82, the pallet ID is transmitted. Next, the process proceeds to step S83, where it is determined whether or not a departure command has been received. If it is determined that a departure command has been received, the process proceeds to step S84, and the departure is executed.

[0053] At the ascending points (up 1 to up n) and descending points (down 1 to down n), predetermined communication and information processing are performed between the controller 245 of the optical communication unit 243 and the controller 231 of the optical communication unit 229 of the self-propelled pallet 9.

[0054] For example, when the self-propelled pallet 9 reaches an upward point (up 1 to up n), the stop dog detection sensor 223 detects the stop dog 221 and stops. Next, it is determined whether the elevator in the upward section (UP) is descending or not, and if it is determined to be descending, the self-propelled pallet 9 is made to move on its own. Next, it is determined whether the self-propelled pallet 9 is on the elevator or not, and if it is determined to be on the elevator, the elevator is made to rise. Next, it is determined whether the elevator has risen or not, and if it is determined to have risen, the self-propelled pallet 9 is made to move on its own.

[0055] Similarly, when the self-propelled pallet 9 reaches a descent point (down 1 to down n), the stop dog detection sensor 223 detects the stop dog 221 and stops. Next, it is determined whether the elevator in the descent section (DOWN) is rising or not, and if it is determined to be rising, the self-propelled pallet 9 is made to move on its own. Next, it is determined whether the self-propelled pallet 9 is on the elevator or not, and if it is determined to be on the elevator, the elevator is made to move down. Next, it is determined whether the elevator has descended or not, and if it is determined to have descended, the self-propelled pallet 9 is made to move on its own.

[0056] Next, we will explain the switching between high speed and low speed. When the high-speed dog detection sensor 227 detects the high-speed dog (START) 225a, the system switches from low speed to high speed. When the high-speed dog detection sensor 227 detects the high-speed dog (END) 225b while the system is switched to high speed, it switches from high speed to low speed.

[0057] Next, maintenance of the transport path 1 will be described. For example, if a roller 43 is damaged due to aging, only the cartridge 41 to which the damaged roller 43 is attached is removed. Next, the damaged roller 43 is removed from the removed cartridge 41 and a new roller 43 is installed. Then, the cartridge 41 is installed back in its original position on the frame 3. No tools are required for this series of tasks.

[0058] As described above, this embodiment can achieve the following effects. First, the configuration of the pallet self-propelled transport device can be simplified and the assembly work can be made easier. In other words, the transport path 1 can be constructed simply by connecting frames 3 and installing a left-side roller conveyor 5 and a right-side roller conveyor 7 on top of them, and then the self-propelled pallet 9 can be placed on it and made to move under its own power. Furthermore, since the frame 1 is integrally provided with a power supply projection 15 and the rail 73 is installed on top of it, a configuration can be easily provided to allow the self-propelled pallet 9 to move along a predetermined route. Furthermore, the self-propelled pallet 9 is equipped with one drive wheel 85 and three driven wheels 87, 89, and 91 for self-propulsion. These drive wheel 85 and three driven wheels 87, 89, and 91 clamp the rail 73 from both the left and right sides, two on each side, thus providing reliable and stable self-propulsion. Furthermore, power is supplied to the self-propelled pallet 9 by connecting two electrodes each to the power supply conductors 71, 71 located on the left and right sides of the power supply projection 15. 161 , 163 , 165 , 167This is achieved by using pressure contact, which allows for stable power supply. In particular, there are places in the transport path 1 where the power supply protrusions 15 are discontinuous (for example, the resin cover 6 of the frame 3, the corner unit 21, and the switching unit 23), and even in such cases, electrodes are provided in pairs in the direction of travel. 161 , 163 , 165 , 167 Since one of them is securely pressed against the power supply conductors 71, 71, the power supply will not be impaired. Furthermore, since both ends of the shaft 47 of the roller 43 are supported by being sandwiched from above and below by the upward recess 51 and downward recess 53 of the cartridge frame 42 of the cartridge 41, the roller 43 does not inadvertently detach from the cartridge 41. thing This is not necessary. This greatly contributes to improving the work efficiency of attaching and detaching the cartridge 41, to which the roller 43 is attached, to the frame 3. Furthermore, when the cartridge 41 is attached to the frame 3, deformation of the cartridge 41 itself in the expanding direction is restricted, thus reliably preventing the roller 43 from unintentionally detaching. Furthermore, the left roller conveyor 5 and the right roller conveyor 7 are easy to disassemble and assemble. This is because any number of rollers 43 attached to a cartridge 41 of a predetermined length can be arbitrarily selected and placed on the frame 3, and disassembly can be done by following the reverse procedure. Furthermore, if the roller 43 is damaged due to aging and needs to be replaced with a new one, the process is simple: only the cartridge 41 to which the damaged roller 43 is attached needs to be removed, and the roller 43 can be replaced. No tools are required for this process. Furthermore, attaching and detaching the roller 43 from the cartridge 41 is easy. No tools are required in this case either. Furthermore, since T-grooves 17 and 19 are formed on the bottom of frame 3, the left roller conveyor 5 and the right roller conveyor 7 can be attached to any desired location using these T-grooves 17 and 19. Furthermore, if multiple types of cartridges 41 of a predetermined length, each equipped with any number of rollers 43, are prepared in advance, the desired left-side roller conveyor 5 and right-side roller conveyor 7 can be constructed simply by installing any selected cartridge 41 onto a pre-laid frame 3. Furthermore, regarding control, first, a host PC 241 is installed, and an optical communication unit 229 is mounted on the self-propelled pallet 9. Optical communication units 243 are then mounted on each of the home position (HOME), stations (ST1~STn), branching points (min1~minn), merging points (merging1~mergingn), ascending points (up1~upn), and descending points (down1~downn). Once route information is transmitted from the host PC 241 to the self-propelled pallet 9 at the home position (HOME), communication between the self-propelled pallet 9 and the optical communication units 243 at each of the stations (ST1~STn), branching points (min1~minn), merging points (merging1~mergingn), ascending points (up1~upn), and descending points (down1~downn) can be established, enabling the predetermined tasks to be performed automatically. This simplifies the configuration required for control.

[0059] Next, a second embodiment of the present invention will be described with reference to Figures 21 to 26. First, in the first embodiment described above, an I-shaped rail 73 (shown in Figure 4) is used, but in this second embodiment, as shown in Figures 21 to 23, a T-shaped rail 301 is used. The T-shaped rail 301 consists of a vertical section 303 and a horizontal section 305 at the upper end. As shown in Figure 23, the horizontal section 305 extends to the left and right and forms roller contact sections 307, 307. Resin plates 308, 308 are embedded in the roller contact sections 307, 307. The T-shaped rail 301 is an extruded product.

[0060] Furthermore, in the first embodiment, the system was configured to run along an I-shaped rail 73 (shown in Figure 4) using one drive roller and three driven rollers. However, in this second embodiment, as shown in Figure 26, the system is configured to run along the horizontal portion 305 of the T-shaped rail 301 using one drive roller 311 and two driven rollers 313 and 315. The drive roller 311 is rotationally driven by a drive motor 83, as in the first embodiment.

[0061] As shown in Figures 23 and 26, the driven roller 313 is fixed to a bush 314, and a bolt 317 is inserted into the hollow portion of the bush 314 and a through hole (not shown) formed in the pallet body 81. A nut 321 is screwed onto the tip of the bolt 317 via a washer 319. The driven roller 313 is rotatably mounted in a predetermined position on the pallet body 81.

[0062] As shown in Figure 26, the arm 331 is fixed to the bush 333, and the bolt 335 is inserted into the hollow portion of the bush 333 and a through hole (not shown) in the pallet body 81. As shown in Figure 24, a nut 339 is screwed onto the tip of the bolt 335 via a washer 337. In this way, the arm 331 is mounted so as to be rotatable around the bolt 335.

[0063] As shown in Figure 26, a bolt 341 is inserted into a through hole at the tip of the arm 331, and the driven roller 315 is rotatably attached to this bolt 341 via a bush 342. As shown in Figure 24, a nut 343 is screwed onto the bolt 341. The tip of the bolt 341 penetrates and is positioned on the front side of the pallet body 81 through an arc groove 345 formed therein, to which one end of a coil spring 347 is connected. The other end of the coil spring 347 is connected to a bolt 348 attached to the pallet body 81.

[0064] The driven roller 315 is mounted so as to be rotatable around the bolt 341. The driven roller 315 is supported by the coil spring 347 in the horizontal section of the rail 301. 305 The roller contact portion 307 is biased in the direction of the roller contact portion 307. On the other hand, the drive roller 311 and the driven roller 313 are on the horizontal portion of the rail 301. 305 It is biased in the direction of the roller contact portion 307 on the opposite side. As shown in Figure 26, the driven roller 315 is positioned opposite to the driven roller 311 and the driven roller 313 at an intermediate position. This configuration reduces the number of rollers from four to three, thereby simplifying the overall design.

[0065] The power supply structure differs from that of the first embodiment. First, as shown in Figure 23, recesses 381, 381 are provided on the left and right sides of the horizontal portion 305 of the T-shaped rail 301, on the lower side. Power supply conductors 383, 383 are installed in these recesses 381, 381.

[0066] On the other hand, as shown in Figure 25, a pair of electrode units 351, 351 are installed on the front end of the back side of the pallet body 81, and another pair of electrode units 351, 351 are installed on the rear end. The above pair of electrode units 351, 351 and the other pair of electrode units 351, 351 are arranged at a greater distance apart along the direction of travel compared to the first embodiment.

[0067] The electrode unit 351 described above has the following configuration. First, the arm 353 is rotatably mounted around the bolt 355. That is, the arm 353 is fixed to the bush 357, and the bolt 355 is inserted into the hollow part of the bush 357 and a through hole (not shown) formed in the pallet body 81, and a nut 359 is screwed onto its tip, as shown in Figure 24.

[0068] A pin 361 is inserted into a through hole (not shown) at the tip of the arm 353, and a bush 363 is inserted through the pin 361. A roller 365 is fixed to this bush 363. An electrode holder 369 is installed on the bush 363 via a coil spring 367, and an electrode 371 is held at the tip of this electrode holder 369. Furthermore, a coil spring 370 is installed on the outer circumference of the bolt 355 between the arm 353 and the pallet body 81. One end of this coil spring 370 is in contact with the bolt 372, and the other end is in contact with the bolt 374. 369 Cable 373 is drawn out from there. The four electrode units 351 described above have the same configuration, and identical parts are denoted by the same reference numerals in the figure, and their descriptions are omitted.

[0069] As shown in Figure 23, each electrode 371 of the pair of electrode units 351, 351 is recessed. 381 , 381 It is inserted and positioned inside and is in pressure contact with the power supply conductors 343, 343. Similarly, each electrode 371, 371 of another pair of electrode units 351, 351 is also recessed, as shown in Figure 23. 381 , 381 They are inserted and positioned inside and are pressed against the power supply conductors 343, 343. In addition, the rollers 365, 365, 365, 365 of the pair of electrode units 351, 351 and another pair of electrode units 351, 351 are pressed against both the left and right sides of the vertical section 303 of the T-shaped rail 301. Resin plates 376, 376 are embedded on both the left and right sides of the vertical section 303.

[0070] By adopting this configuration, it is possible to provide a more stable power supply than in the case of the first embodiment. First, in the transport path 1, the power supply conductor 383 , 383 There are places where it becomes discontinuous. thingAs described in the first embodiment, in this second embodiment, the pair of electrode units 351, 351 and the other pair of electrode units 351, 351 are arranged at a greater distance along the direction of travel compared to the first embodiment, so the electrodes of either pair of electrode units 351, 351 371 , 371 is a power supply conductor 383 , 383 This ensures reliable contact, thereby enabling a stable power supply. Also, the electrodes of each electrode unit 351 371 is a power supply conductor 383 Because it is designed to be pressed from below, the voltage becomes stable, which in turn enables a stable power supply.

[0071] In the first embodiment described above, the case in which three rollers 43, 43, 43 are attached to the cartridge frame 42 was used as an example, but in this second embodiment, two rollers 43, 43 are attached. Also, a bush is placed between the roller 43 and the bearing 46. 393 It is being inserted. This configuration reduces the number of rollers 43, thereby simplifying the overall structure.

[0072] Furthermore, the configuration of the corner unit 21 (shown in Figure 2) has been changed. In this second embodiment, a resin corner unit 411 is used, which consists of a rail 413 with a T-shaped cross-section and resin running tracks 415, 415 installed on both the left and right sides of the rail 413. The rail 413 is installed a predetermined amount higher than the horizontal section 305 of the rail 301. The running tracks 415, 415 are also installed a predetermined amount higher than the bottom surface of the frame 3.

[0073] On the other hand, the self-propelled pallet 9 has a pair of balls 421, 421 rotatably installed in the front and rear directions along the direction of travel, and another pair of balls 423, 423 rotatably installed in the left and right directions perpendicular to the direction of travel.

[0074] At the corner, a pair of balls 421, 421 of the self-propelled pallet 9 roll along the upper surface of the rail 413, while another pair of balls 423, 423 roll along the upper surface of the running track 415, 415.

[0075] Furthermore, as shown in Figure 25, a magnetic sensor 431 is installed near the drive roller 311. On the other hand, a magnetic material (not shown) is installed at a predetermined position on the drive roller 311 side. The system is configured to detect whether the drive roller 311 is rotating normally by detecting the magnetic material with the magnetic sensor 431. If the detection of the magnetic material by the magnetic sensor 431 has not exceeded a predetermined time, or if detection continues, the system is configured to determine that there is an abnormality, stop the drive roller 311, and then restart it.

[0076] Furthermore, the other components are the same as in the first embodiment described above, and the same parts are denoted by the same reference numerals in the figures, and their descriptions are omitted.

[0077] As described above, this embodiment can achieve the same effects as the first embodiment, and furthermore, the following effects can be achieved. First, since it is driven by three rollers—drive roller 311 and driven rollers 313 and 315—the configuration can be simplified compared to the case with four rollers. Furthermore, a more stable power supply can be achieved. This is because, compared to the first embodiment, the pair of electrode units 351, 351 and the other pair of electrode units 351, 351 are arranged at a greater distance apart along the direction of travel, and the electrodes 363, 363 of any pair of electrode units 351, 351 are reliably in contact with the power supply conductors 343, 343. Also, the electrodes 363 of each electrode unit 351 are configured to be pressed against the power supply conductors 343 from below. Furthermore, by configuring the electrodes 363 of each electrode unit 351 to be pressed against the power supply conductor 343 from below, it is possible to eliminate situations in which workers inadvertently come into contact with the energized parts. Furthermore, since two rollers 43, 43 are attached to the cartridge frame 42, the configuration can be simplified. Furthermore, the magnetic sensor 431 makes it possible to detect abnormal situations, such as the drive roller 311 slipping.

[0078] Furthermore, the present invention is not limited to the first and second embodiments described above. First, regarding multiple types of cartridges equipped with any number of rollers 41, the number of rollers is not limited to 1, 2, 3, or 7; it can literally be any number. Furthermore, the diagrammed configuration is merely an example. [Industrial applicability]

[0079] The present invention relates to a pallet self-propelled transport device, and more particularly to a device that allows a self-propelled pallet to travel along a roller conveyor installed along an arbitrary track, thereby enabling the transport of items from any location to any location. For example, it is suitable for transporting parts in various factories, transporting goods at delivery sites, and so on. [Explanation of Symbols]

[0080] 1. Conveyor path 3 frames 5. Left-side roller conveyor 7 Right-side roller conveyor 15 Power supply protrusion 41 cartridges 43 Laura 71 Conductor for power supply 73 rails 85 Drive roller (drive wheel) 87 Driven roller (driven wheel) 89 Driven roller (driven wheel) 91 Driven roller (driven wheel) 185 Electrode 187 Electrode 189 Electrode 191 Electrode

Claims

1. A pallet self-propelled transport device comprising a transport path installed along a predetermined route and a self-propelled pallet that moves along the transport path, wherein the transported object is placed on the self-propelled pallet and the pallet moves along the transport path to transport the object, Multiple points are set at predetermined positions along the above transport path. Control devices are installed at the above multiple points. The above-mentioned self-propelled pallet is also equipped with a control system. The above self-propelled pallet moves on its own while communicating with its own control system and the control systems of each point. Route information is prepared in advance, consisting of multiple types of driving course information. The control means for the above-mentioned points selects and transmits predetermined driving course information from the above-mentioned route information to the control means for the above-mentioned self-propelled pallet. The above-mentioned self-propelled pallet is a self-propelled pallet transport device characterized by being able to move on its own based on its driving course information.

2. In the pallet self-propelled transport device according to claim 1, A stop dog is installed at each of the above points. The above-mentioned self-propelled pallet transport device is characterized in that the self-propelled pallet stops at each of the above-mentioned points by detecting the stop dogs installed at those points and communicates with the control means installed at those points.

3. In the pallet self-propelled transport device according to claim 2, The home position is set as the point mentioned above. The above route information is transmitted from the host computer to the home position control means described above. The home position control means described above receives a route number that identifies predetermined driving course information. The pallet self-propelled transport device is characterized in that the home position control means selects predetermined driving course information from the route information based on the input route number and transmits it to the self-propelled pallet control means.

4. In the pallet self-propelled transport device according to claim 2, The above point is designated as a station, The above station is equipped with a robot. The pallet self-propelled transport device is characterized in that the control means of the station determines whether a self-propelled pallet stopped at the station is the object of work at the station, and if it is determined that it is the object of work, it causes the robot to perform the work.

5. In the pallet self-propelled transport device according to claim 2, The above transport route has a branching junction installed, A switching unit is installed at the above branch junction. A branching point is installed at the above point, The control means for the branching point described above is characterized by obtaining information on the next point to which a self-propelled pallet stopped at a station will go, and thereby switching the switching unit described above.

6. In the pallet self-propelled transport device according to claim 2, The above transport route has a merging junction installed. A switching unit is installed at the above merging junction. As mentioned above, a merging point has been set up. The control means for the merging point described above is characterized by obtaining information on the next point to which a self-propelled pallet stopped at a station will go, and thereby switching the switching unit described above.

7. In the pallet self-propelled transport device according to claim 2, The above transport path is equipped with an upward section. As mentioned above, an upward point has been set, The pallet self-propelled transport device is characterized in that the control means for the upward point communicates with the control means for the self-propelled pallet stopped at the upward point.

8. In the pallet self-propelled transport device according to claim 2, The above transport path is equipped with a descending section. As mentioned above, a descent point has been set up. A pallet self-propelled transport device characterized in that the control means for the lowering point communicates with the control means for the self-propelled pallet stopped at the lowering point.

9. In the pallet self-propelled transport device according to claim 1, The above-described control means is characterized by comprising a controller and an optical communication head, and is a pallet self-propelled transport device.

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