Pallet self-propelled conveyance 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

Pallet self-propelled transport device Industrial application fields

[0001] The present invention relates to a pallet self-propelled transport device, and more particularly to a device that is devised to facilitate control and simplify the configuration required for control. Conventional technology

[0002] Examples of patent documents that disclose the configuration of a self-propelled pallet transport device that transports an object by moving a self-propelled pallet include Patent Documents 1, 2, 3, 4, 5, and 6.

[0003] First, Patent Document 1 discloses an invention in which a self-propelled work transport pallet is self-propelled along a pair of work transport pallet rails to transport workpieces placed on a workpiece placement section. Next, Patent Document 2 discloses an invention in which a self-propelled work transport pallet is self-propelled along a track to transport workpieces placed on a workpiece placement section. Next, Patent Document 3 discloses an invention in which a transport vehicle is self-propelled along inner and outer rails to transport workpieces placed on a pallet attached to the transport vehicle. Next, Patent Document 4 discloses an invention in which a pallet is moved via roller conveyors provided on the left and right sides. Next, Patent Document 5 discloses an invention in which motor roller units are appropriately connected to form an arbitrary transport path for transporting a pallet. Furthermore, Patent Document 6 discloses an invention in which rail units for a pallet loader are connected to form an arbitrary track for transporting a pallet.

[0004] JP 2003-306144 A JP 2003-345412 A JP 2009-190838 A JP 2015-151248 A JP 59-22814 A JP 2018-58528 A

[0005] The above-described conventional configuration has the following problems: Controlling the self-propelled pallet to self-propel along a predetermined route and perform a predetermined task is cumbersome, and the configuration required for control is complex.

[0006] The present invention has been made based on these points, and its object is to provide a self-propelled pallet transport device that can be easily controlled and has a simplified configuration required for control.

[0007] In order to solve the above problems, the present invention provides a self-propelled pallet transport device according to claim 1, comprising a transport path installed along a predetermined route and a self-propelled pallet that self-propels along the transport path, and transports the transported object by placing the transported object on the self-propelled pallet and self-propelling it along the transport path, wherein a plurality of points are set at predetermined positions on the transport path, and control means are installed at the plurality of points, and a control means is also installed on the self-propelled pallet, and the self-propelled pallet self-propels while communicating with its own control means and the control means at each point. Furthermore, the self-propelled pallet transport device according to claim 2 is the self-propelled pallet transport device according to claim 1, characterized in that each of the points is equipped with a stop dog, and the self-propelled pallet detects the stop dog installed at each point to stop at that point and communicates with the control means installed at that point. According to claim 3, the self-propelled pallet transport device of claim 2 further comprises a home position set as the point, a host computer installed at the home position, route information stored in the host computer, the route information consisting of multiple types of operating course information, each of the operating course information setting whether or not work is being performed at the multiple points, and the host computer transmits the predetermined operating course information to the self-propelled pallet stopped at the home position via control means. According to claim 4, the self-propelled pallet transport device of claim 2 further comprises a station set as the point, a robot installed at the station, and control means for the station determining whether or not the self-propelled pallet stopped at the station is the target of work at that station, and if it determines that the pallet is the target of work, causing the robot to perform the work.A self-propelled pallet transport device according to claim 5 is the self-propelled pallet transport device of claim 2, wherein the transport path is provided with a branch junction, a switching unit is provided at the branch junction, a branch point is provided as the point, and the control means at the branch point obtains information about the next point to which the self-propelled pallet stopped at the station will head and switches the switching unit accordingly.A self-propelled pallet transport device according to claim 6 is the self-propelled pallet transport device of claim 2, wherein the transport path is provided with a junction junction, a switching unit is provided at the branch junction, a junction point is provided as the point, and the control means at the junction point obtains information about the next point to which the self-propelled pallet stopped at the station will head and switches the switching unit accordingly.A self-propelled pallet transport device according to claim 7 is the self-propelled pallet transport device according to claim 2, wherein the transport path is provided with a lift section, a lift point is provided as the point, and the control means at the lift point communicates with the control means of the self-propelled pallet stopped at the lift point. The self-propelled pallet transport device according to claim 8 is the self-propelled pallet transport device according to claim 2, characterized in that a descending section is provided on the transport path, a descending point is provided as the point, and the control means for the ascending point communicates with the control means for the self-propelled pallet stopped at the descending point. The self-propelled pallet transport device according to claim 9 is the self-propelled pallet transport device according to claim 1, characterized in that the control means is composed of a controller and an optical communication head.

[0008] As described above, the self-propelled pallet 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 self-propels along the transport path, and transports the transported object by loading the self-propelled pallet and self-propelling it along the transport path, and the transport path has a plurality of points set at predetermined locations, and control means are installed at the plurality of points, and a control means is also installed on the self-propelled pallet, and the self-propelled pallet self-propels while communicating with its own control means and the control means at each point, thereby facilitating control and simplifying the configuration required for control.Furthermore, according to claim 2 of the present application, the self-propelled pallet transport device according to claim 1 has a stop dog installed at each point, and the self-propelled pallet detects the stop dog installed at each point to stop at that point and communicates with the control means installed at that point, thereby facilitating control and simplifying the configuration required for control. According to a third aspect of the present invention, there is provided a self-propelled pallet transport device in accordance with the second aspect of the present invention, wherein a home position is set as the point, a host computer is installed at the home position, route information is stored in the host computer, the route information is made up of multiple types of operating course information, each of the operating course information is information setting whether or not work is being performed at the multiple points, and the host computer transmits the predetermined operating course information to the self-propelled pallet stopped at the home position via control means, thereby facilitating control and simplifying the configuration required for control. According to a fourth aspect of the present invention, there is provided a self-propelled pallet transport device in accordance with the second aspect of the present invention, wherein a station is set as the point, a robot is installed at the station, and control means for the station determines whether or not the self-propelled pallet stopped at the station is the target of work at that station, and if it determines that the pallet is the target of work, causes the robot to perform the work, thereby facilitating control and simplifying the configuration required for control.According to claim 5, the self-propelled pallet transport device of claim 2 further comprises a branch junction on the transport path, a switching unit at the branch junction, a branch point as the point, and the control means at the branch point obtains information on the next point to which the self-propelled pallet stopped at the station will head and switches the switching unit accordingly, thereby facilitating control and simplifying the configuration required for control. According to claim 6, the self-propelled pallet transport device of claim 2 further comprises a junction junction on the transport path, a switching unit at the branch junction, a junction point as the point, and the control means at the junction point obtains information on the next point to which the self-propelled pallet stopped at the station will head and switches the switching unit accordingly, thereby facilitating control and simplifying the configuration required for control. According to a seventh aspect of the present invention, the self-propelled pallet transport device of the second aspect of the present invention further includes an ascending section on the transport path, an ascending point as the point, and the control means for the ascending point communicates with the control means for the self-propelled pallet stopped at the ascending point, thereby facilitating control and simplifying the configuration required for control. According to an eighth aspect of the present invention, the self-propelled pallet transport device of the second aspect of the present invention further includes a descending section on the transport path, a descending point as the point, and the control means for the ascending point communicates with the control means for the self-propelled pallet stopped at the descending point, thereby facilitating control and simplifying the configuration required for control. According to a ninth aspect of the present invention, the control means for the first aspect of the present invention is comprised of a controller and an optical communication head, thereby facilitating control and simplifying the configuration required for control.

[0009] FIG. 1 is a diagram showing a first embodiment of the present invention, and is a control system diagram showing the overall configuration of a self-propelled pallet transport device. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a perspective view showing a portion of the transport path of the ... (a home position as an example) and a self-propelled pallet. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a cross-sectional view taken along IV-IV in FIG. 3. FIG. 1 is a diagram showing a first embodiment of the present invention, and is an exploded perspective view of a portion of the left roller conveyor provided on the transport path of the self-propelled pallet transport device. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a plan view of a portion of the left roller conveyor provided on the transport path of the self-propelled pallet transport device. FIG. 6 is a cross-sectional view taken along VII-VII in FIG. 6. FIG. 6 is a cross-sectional view taken along VIII-VIII in FIG. 6. FIG. 1 is a perspective view of the self-propelled pallet as viewed obliquely from above. FIG. 1 is a perspective view of the self-propelled pallet as viewed obliquely from below. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a table showing an example of route information transmitted from a host PC to a self-propelled pallet. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a flowchart showing information processing at the home (HOME) of the transport path of the pallet self-propelled transport device. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a flowchart showing information processing at host stations (ST1 to STn) of the transport path of the pallet self-propelled transport device. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a flowchart showing information processing at branch junctions (Bun1 to Bunn) of the transport path of the pallet self-propelled transport device. FIG. 1 is a diagram showing a first embodiment of the present invention, and is a flowchart showing information processing at junctions (Jun1 to Junn) of the transport path of the pallet self-propelled transport device. FIG. 2 is a diagram showing a first embodiment of the present invention, and is a flowchart showing information processing on the self-propelled pallet side at the home (HOME) of the transport path of the pallet self-propelled transport device.22 , 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 , 31 , 32 , 33 , 34 , 35 , 36 , 37 , 38 , 39 , 40 , 41 , 42 , 43 , 44 , 45 , 46 , 47 , 48 , 49 , 50 , 51 , 52 , 53 , 54 , 55 , 56 , 57 , 58 , 59 , 60 , 61 , 62 , 63 , 64 , 65 , 66 , 70 , 71 , 72 , 73 , 74 , 75 , 76 , 77 , 78 , 79 , 80 , 81 , 82 , 83 , 84 , 85 , 86 , 87 , 88 , 89 , 90 , 91 , 92 , 93 , 94 , 95 , 96 , 97 , 98 , 99 , 100 , 101 , 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 , 110 , 111 , 112 , 113 , 114 , 115 , 116 , 117 , 118 , 119 ,20 , 21 , 22 , 2 FIG. 10 is a diagram showing a second embodiment of the present invention, and is an exploded perspective view of a part of a left roller conveyor provided on a conveying path of a pallet self-propelled conveying device.

[0010] A first embodiment of the present invention will now be described with reference to Figures 1 to 20. Figure 1 is a control system diagram showing the overall configuration of a self-propelled pallet transport device according to this embodiment, with a transport path 1 provided along a predetermined route. Parts of the transport path 1 are shown in Figures 2 and 3. The transport path 1 is made up 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 frame 3 in cross section. A self-propelled pallet 9 is installed on the transport path 1, and this self-propelled pallet 9 is caused to travel in an appropriate direction along the transport path 1 to transport an object to be transported (not shown) placed thereon.

[0011] As shown in FIG. 4, the frame 3 is roughly bowl-shaped, with a left roller conveyor installation section 11 and a right roller conveyor installation section 13 at both ends. A power supply protrusion 15 protrudes from the center of the bottom of the frame 3. The frame 3 is an extrusion-molded product, with the left roller conveyor installation section 11, the right roller conveyor installation section 13, and the power supply protrusion 15 integrally molded. T-slots 17 and 19 are formed on the bottom of the frame 3 on both sides of the power supply protrusion 15. These T-slots 17 and 19, along with bolts and T-nuts (not shown), are used to secure the frame 3 to any desired location. The frame 3 is set to a predetermined length, and the conveying path 1 is formed by connecting frames 3 of this predetermined length. As shown in FIG. 3, resin covers 6 are attached to both ends of the frame 3. When multiple frames 3 are connected, the resin covers 6 are interposed between the frames 3. Furthermore, the power supply projection 15 is not present on this cover 6 portion.

[0012] As shown in FIG. 1, the conveying path 1 has a straight section 1a, which is formed by connecting the frames 3 as described above. The conveying path 1 also has a corner (right corner), branch junctions (BR1-BRn), and merging junctions (JO1-JOn). The conveying path 1 also has an ascending section (UP) and a descending section (DOWN). As shown in FIG. 2, a corner unit 21 is used at the corner (right corner). The corner unit 21 is provided with a plurality of balls 21a, and the self-propelled pallet 9 moves freely on these balls 21a. As shown in FIG. 2, switching units 23 are used at the branch junctions (BR1-BRn) and merging junctions (JO1-JOn). Elevators (not shown) are installed at the ascending section (UP) and the descending section (DOWN).

[0013] The left roller conveyor 5 already 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, the configuration of the left roller conveyor 5 will be described. As shown in Figure 4, there is a cartridge 41, which is composed of a resin cartridge frame 42 and a plurality of rollers 43 detachably and rotatably attached to the cartridge frame 42. That is, as shown in Figures 5 and 6, the cartridge frame 42 is formed with a plurality of roller through-holes 44 (three in the case shown in Figures 5 and 6) partitioned by ribs 45. The number of roller through-holes 44 may be, for example, one, two, three, or seven.

[0015] As shown in Figure 6, the cartridge frame 42 has one rib 45 at one end, and two ribs 45, 45 connected together along the middle. This is because by cutting the cartridge frame 42 in the middle between the two ribs 45, 45, a single rib 45 remains on each side. For example, the resin cartridge frame 42 is molded in a long length and then cut to the desired length. At this time, a single rib 45 remains on both sides of the cut.

[0016] As shown in FIG. 5, the roller 43 is rotatably supported on a shaft 47 via left and right bearings 46. Both ends of the shaft 47 are held by shaft holders 49 of the cartridge frame 42. As shown in FIG. 7, the shaft holder 49 is provided on the cartridge frame 42 with a lower shaft support portion 51 that supports the shaft 47 from below. As shown in FIG. 8, a portion of the lower support portion 51 extends in a tongue-like shape. An upper shaft support portion 53 that supports the shaft 47 from above is provided at the back of the lower shaft support portion 51. The upper support portion 53 is provided to protrude from both sides so that its diameter is smaller than the outer diameter of the shaft 47. The end of the shaft 47 is held by being sandwiched between the lower shaft support portion 51 and the upper shaft support portion 53. When the roller 43 rotatably held on the shaft 47 is attached to the cartridge frame 42, the cartridge frame 42 is elastically deformed and slightly bent so that the upper side is convex, causing the space between the shaft holders 49 on both sides to be slightly widened, and the roller 43 rotatably held on the shaft 47 is dropped into this space. By releasing the bending, both ends of the shaft 47 are held in a state where they are sandwiched from above and below by the lower shaft support portions 51 and upper shaft support portions 53 of the shaft holders 49 on both sides.

[0017] As shown in Figures 4 and 5, engaging portions 61, 61 are provided intermittently on both the left and right sides of the cartridge frame 42. Meanwhile, engaging portions 63, 63 with which the engaging portions 61, 61 engage are provided on the left roller conveyor installation portion 11. The left roller conveyor installation portion 11 also has a hollow portion 65 for rotatably accommodating the rollers 43. A cartridge 41 having a plurality of rotatable rollers 43 is installed so as to cover the left roller conveyor installation portion 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 portion 11. The left roller conveyor 5 is constructed by installing the required number of cartridges 41 on the left roller conveyor installation portion 11.

[0018] The same configuration is also used for the right-side roller conveyor 7. The switching unit 23 already described has a configuration in which the left-side roller conveyor 5 and the right-side roller conveyor 7 are mounted on a predetermined short frame 3, and is configured to be rotatable.

[0019] As shown in Figure 4, power supply conductors 71, 71 are provided 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 to the top of the power supply projection 15. A resin plate 74 is fitted into the left side surface of the rail 73 in Figure 4. This is to increase the frictional force between the rail 73 and a drive roller and a 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 generally rectangular and has an inverted U-shaped cross section. A drive motor 83 is installed at one of the four corners on the front side of the pallet body 81. The rotation shaft (not shown) of the drive motor 83 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 bushing 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 the tip via a washer 95.

[0022] The driven roller 91 is rotatably attached to a bolt 99 via a bushing 100. The tip of the bolt 99 is arranged to protrude from the front side of the pallet body 81, and a nut 101 is threadedly engaged therewith, thereby rotatably fixing the driven roller 91 to the bolt 99. An arc-shaped groove 103 is formed in the pallet body 81, and the fastening portion of the bolt 99 and nut 101 is configured to be movable along this arc-shaped groove 103.

[0023] One end of an arm 105 is inserted 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 main body 81, and the other end of the arm 105 is fixed to the bracket 107 with 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. A bolt 123 is disposed so as to protrude from the rear side of the pallet body 81 toward the front side, and nuts 125 and 127 are threadedly engaged with the bolt 123. 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 urged toward the driven roller 87 by the spring force of the coil spring 121.

[0025] The same is true for the driven roller 89, which is rotatably attached to a bolt 131 via a bushing 132. The tip of the bolt 131 is disposed to protrude from the front side of the pallet main body 81, and a nut 133 is threadedly engaged therewith, thereby rotatably fixing the driven roller 89 to the bolt 131. An arc-shaped groove 135 is formed in the pallet main body 81, and the fastening portion of the bolt 131 and nut 133 is configured to be movable along this arc-shaped groove 135.

[0026] One end of an arm 137 is inserted between the bolt head 131a of the bolt 131 and the bushing 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 and a nut and bushing (not shown).

[0027] One end of a coil spring 143 is fixed to the tip of the bolt 131. A bolt 145 is disposed so as to protrude from the rear side of the pallet body 81 toward the front side, and nuts 147 and 149 are threadedly engaged with the bolt 145. 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 urged toward the drive roller 85 by the spring force of the coil spring 143.

[0028] The rail 73 is sandwiched between the drive roller 85 and driven rollers 87, 89, 91 from both the left and right sides and pressed against them, and in this state the drive roller 85 is driven by the drive motor 83, causing the self-propelled pallet 9 to self-propel along the rail 73.

[0029] As shown in Fig. 10, electrodes 161, 163, 165, and 167 are installed on the pallet body 81, two on each side of the power supply projection 15. Slots 169, 171, 173, and 175 are formed in the pallet body 81, penetrating from the front to the back. Blocks 177, 179, 181, and 183 are movably attached to the slots 169, 171, 173, and 175. The electrodes 161, 163, 165, and 167 are rotatably attached to the blocks 177, 179, 181, and 183 with bolts 185, 187, 189, and 191 via bushings (not shown).

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

[0031] Mounts 201, 203, 205, and 207 are installed at the four corners on the front surface of the pallet body 81. As shown in Figure 4, a transported object placement section 211 is attached to the top of the mounts 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 installed inside the transported object placement section 211. Various electric and electronic components, sensors, etc. are mounted on the circuit board 213.

[0032] As shown in Figure 4, a stop dog 221 is installed on the bottom of the frame 3 at a predetermined position, 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 travels to a predetermined position, the stop dog detection sensor 223 detects the stop dog 221, causing the self-propelled pallet 9 to stop. Also, a high-speed dog (START) 225a and a high-speed dog (END) 225b are installed on the bottom of the frame 3 at a predetermined position, 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 travels to a 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 (END) 225b is detected by the high speed dog detection sensor 227 in the state switched to high speed, the speed is switched 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. It is also possible to consider a method in which high speed dogs are continuously installed within a predetermined area, the speed is set to high speed while the high speed dog is detected, and the speed is switched to low speed when the high speed dog is no longer detected.

[0033] As shown by the broken line in FIG. 3, the self-propelled pallet 9 is equipped with an optical communication unit 229 , which is made up of a controller 231 and a communication head 233 .

[0034] As shown in FIG. 1, a home position (HOME) is provided on the conveying 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. FIG. 3 shows 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 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 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. The optical communication unit 243 is substantially the same as the optical communication unit 229 installed on the self-propelled pallet 9 side.

[0035] As shown in FIG. 1, stations (ST1 to STn) are set at appropriate locations on the conveying path 1, and stop dogs 221 are installed there, as well as optional robots (MC1 to MCn) and optical communication units 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 a stop dog detection sensor 223, causing the self-propelled pallet 9 to stop. In this state, necessary communications and information processing are carried out between the PLCs 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. At the same time, the robots (MC1 to MCn) perform predetermined tasks as needed.

[0036] Additionally, branch points (Bun 1 to Bun n) are set at appropriate locations on the conveying path 1 to correspond to the branch junctions (BR1 to BRn) already described. Stop dogs 221 are installed at these branch points (Bun 1 to Bun n), as well as a controller (CNTL) and an optical communication unit 243. When the self-propelled pallet 9 moves to a branch point (Bun 1 to Bun n), 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 communications and information processing are carried out 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. At the same time, the switching units 23 of the branch junctions (BR1 to BRn) perform switching operations as necessary.

[0037] Similarly, junction points (JO1 to JOn) are set at appropriate locations on the conveying path 1 to correspond to the junctions (JO1 to JOn) already described, and a stop dog 221 is installed at each junction, as well as a controller (CNTL) and an optical communication unit device 243. When the self-propelled pallet 9 moves to a junction point (JO1 to JOn), 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 carried out 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. At the same time, the switching units 23 of the junction junctions (JO1 to JOn) perform switching operations as necessary.

[0038] At appropriate locations on the conveying path 1, lifting points (up 1 to up n) are set to correspond to the lifting sections (UP) already described, and stop dogs 221, a controller (CNTL), and an optical communication unit device 243 are installed at these points. When the self-propelled pallet 9 moves to a lifting point (up 1 to up n), 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 carried out 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. At the same time, the elevator performs the required lifting / lowering operation. An optical communication unit device 243 is also installed at the lifting section (UP).

[0039] At appropriate locations on the conveying path 1, descent points (Down 1 to Down n) are set to correspond to the descent sections (DOWN) already described, and stop dogs 221, as well as a controller (CNTL) and an optical communication unit device 243, are installed at these points. When the self-propelled pallet 9 moves to a descent point (Down 1 to Down n), 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 carried out 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. At the same time, the elevator performs the required lifting / lowering operation. An optical communication unit device 243 is also installed at the descent section (DOWN).

[0040] The memory of the host PC 241, as already explained, stores route information such as that shown in FIG. 11. In FIG. 11, the vertical axis indicates the route number, and the horizontal axis indicates whether or not work is being performed at each station (ST1 to STn). The controller 245 of the optical communication unit 243 of each station (ST1 to STn) selects and transmits route information for a specific route number from the route information shown in FIG. 11 to the self-propelled pallet 9 that has arrived at the home position (HOME). The self-propelled pallet 9 then self-propels based on the route information for the received route number. Note that in FIG. 11, the vertical axis for "ST2" displays either "ST2," "Pass," or "-." "ST2" indicates that a specific task is being performed at the station (ST2), "Pass" indicates that the station (ST2) is being passed through but no work is being performed, and "-" indicates that the station (ST2) is not being passed through 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 node information is information for identifying each station (ST1 to STn). The self-propelled pallet 9 compares the node information with pre-entered operating course information, determines whether work is being performed at that station (ST1 to STn), and outputs a through / stop signal.

[0042] The operation will be explained based on the above configuration. 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 details of information processing in the optical communication unit 243.

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

[0044] Next, as shown in Figure 13, it is determined whether 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 process proceeds to step S12. In step S12, the route number is confirmed. Next, the process proceeds to step S13, where it is determined whether the self-propelled pallet 9 has arrived. If it is determined that the self-propelled pallet 9 has arrived, the process proceeds to step S14, where route information for the specified route number is registered in the self-propelled pallet 9.

[0045] Next, processing in the stations (ST1 to STn) will be described with reference to FIG. 14. FIG. 14 shows information processing in the controller 245 of the optical communication unit 243 of the stations (ST1 to STn). First, in step S21, it is determined whether 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 sent to the self-propelled pallet 9. Next, in step S23, it is determined whether a through / stop signal has been received. If a through signal has been 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 it has stopped, the process proceeds to step S25. In step S25, station work is performed by the robots (MC1 to MCn). Next, the process proceeds to step S26. In step S25, it is determined whether the station work has been completed. If it is determined that it has been completed, the process proceeds to step S24. In the information processing in steps S25 and S26, necessary information processing is executed between the robots (MC1 to MCn) and the PLCs.

[0046] Next, the processing at the branch points (minutes 1 to n) will be described with reference to FIG. 15. FIG. 15 shows information processing in the controller 245 of the optical communication unit 243 at the branch points (minutes 1 to n). First, in step S31, it is determined whether 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 next node information has been received. If it is determined that next node information has been received, the process proceeds to step S34. In step S34, the direction of the switching unit 23 is changed. Next, the process proceeds to step S35, where a departure command is output to the self-propelled pallet 9. Note that, when processing step S34, communication with the controller (CNTL) and necessary information processing are performed.

[0047] Next, processing at the junction points (Junction 1 to Junction n) will be described with reference to FIG. 16. FIG. 16 shows information processing in the controller 245 of the optical communication unit 243 at the junction points (Junction 1 to Junction n). First, in step S41, it is determined whether a self-propelled pallet 9 has arrived. If it is determined that a 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, in step S43, it is determined whether 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 another self-propelled pallet 9 is present within the junction (Junction 1 to Junction n). If it is determined that no other self-propelled pallet 9 is present, the process proceeds to step S45. In step S45, a departure command is output to the self-propelled pallet 9. Note that, in 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 to STn), branch points (bun1 to bunn), and merging points (junction 1 to junction n) already explained.

[0049] First, the processing at the home position (HOME) will be described 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 departure is executed.

[0050] Next, the processing in the stations (ST1 to STn) will be described with reference to FIG. 18. First, in step S61, it is determined whether or not node information has been received from the stations (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 the node information with the route information. Next, the process proceeds to step S63, where a through / stop command is transmitted to the station side. Next, the process proceeds to step S64, 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 S65, where departure is executed.

[0051] Next, the processing at the branch points (min 1 to min n) will be described with reference to Figure 19. First, in step S71, it is determined whether or not node information has been received from the branch point (min 1 to min 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, where departure is executed.

[0052] Next, the processing at the merging points (merge 1 to merge n) will be described with reference to Figure 20. First, in step S81, it is determined whether or not there is a request for a pallet ID from the merging point (merge 1 to merge 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, where departure is executed.

[0053] At the ascent points (up 1 to up n) and descent points (down 1 to down n), predetermined communication and information processing is carried out 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 ascent point (up 1 to up n), the stop dog detection sensor 223 detects the stop dog 221 and stops the pallet. Next, it is determined whether the elevator of the ascent section (UP) is descending, and if it is determined that it is descending, the self-propelled pallet 9 is allowed to self-propel. Next, it is determined whether the self-propelled pallet 9 is loaded on the elevator, and if it is determined that it is loaded, the elevator is raised. Next, it is determined whether the elevator has risen, and if it is determined that it has risen, the self-propelled pallet 9 is allowed to self-propel.

[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 the pallet. Next, it is determined whether the elevator in the descent section (DOWN) is rising, and if it is determined that it is rising, the self-propelled pallet 9 is allowed to self-propel. Next, it is determined whether the self-propelled pallet 9 is on the elevator, and if it is determined that it is on, the elevator is allowed to descend. Next, it is determined whether the elevator has descended, and if it is determined that it has descended, the self-propelled pallet 9 is allowed to self-propel.

[0056] Next, switching between high speed and low speed will be described. The high speed dog (START) 225a is detected by the high speed dog detection sensor 227, and the speed is switched from low speed to high speed. When the high speed dog (END) 225b is detected by the high speed dog detection sensor 227 in the state switched to high speed, the speed is switched from high speed to low speed again.

[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 attached. Then, the cartridge 41 is attached to its original position on the frame 3. No tools are required for this series of operations.

[0058] As described above, this embodiment can achieve the following effects. First, it simplifies the configuration of the self-propelled pallet transport device and simplifies assembly. Specifically, the transport path 1 can be constructed simply by connecting the frames 3 and installing the left roller conveyor 5 and the right roller conveyor 7 thereon. The self-propelled pallet 9 can then be installed and self-propelled. Furthermore, the power supply projections 15 are integrally formed on the frames 1, and the rails 73 are installed thereon, making it easy to provide a configuration for self-propelling the self-propelled pallet 9 along a predetermined route. Furthermore, the self-propelled pallet 9 is provided 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 and press the rails 73 together, two on each side, providing reliable and stable self-propulsion. Furthermore, power is supplied to the self-propelled pallet 9 by pressing two electrodes 185, 187, 189, and 191 against the power supply conductors 71, 71 provided on either side of the power supply protrusion 15, ensuring stable power supply. In particular, even in locations along the transport path 1 where the power supply protrusions 15 are discontinuous (e.g., the area of ​​the resin cover 6 of the frame 3, the corner unit 21, and the switching unit 23), one of the two electrodes 185, 187, 189, and 191 provided in pairs along the travel direction is reliably pressed against the power supply conductors 71, 71, so power supply is not impaired. Furthermore, both ends of the shaft 47 of the roller 43 are supported by being sandwiched vertically between the upward recess 51 and the downward recess 53 of the cartridge frame 42 of the cartridge 41, preventing the roller 43 from accidentally coming off the cartridge 41. This contributes greatly to improving the workability of attaching and detaching the cartridge 41, to which the rollers 43 are 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, reliably preventing accidental removal of the rollers 43. Furthermore, the left roller conveyor 5 and the right roller conveyor 7 can be easily disassembled and assembled.This is because cartridges 41 of a predetermined length with any number of rollers 43 attached can be selected and installed on the frame 3, and disassembly can be performed in reverse order. Furthermore, even when rollers 43 are damaged due to aging and need to be replaced with new rollers 43, the replacement is simple; only the cartridge 41 with the damaged roller 43 attached can be removed and the roller 43 can be replaced. No tools are required for this. Furthermore, rollers 43 can be easily attached and detached from the cartridge 41. Again, no tools are required. Furthermore, T-slots 17 and 19 are formed in the bottom of the frame 3, allowing the left roller conveyor 5 and the right roller conveyor 7 to be attached in any desired location using these T-slots 17 and 19. Furthermore, if multiple types of cartridges 41 of a predetermined length with any number of rollers 43 are prepared in advance, the desired left roller conveyor 5 and right roller conveyor 7 can be constructed simply by selecting a cartridge 41 from the selected cartridges and installing it on the pre-installed frame 3. In terms of control, a host PC 241 is first installed, an optical communication unit 229 is mounted on the self-propelled pallet 9, and an optical communication unit 243 is mounted at each of the home position (HOME), stations (ST1 to STn), branch points (1 to n), merge points (1 to n), ascent points (1 to n), and descent points (1 to n). Once route information is sent from the host PC 241 to the self-propelled pallet 9 at the home position (HOME), communication then takes place between the self-propelled pallet 9 and the optical communication unit 243 at each of the stations (ST1 to STn), branch points (1 to n), merge points (1 to n), ascent points (1 to n), and descent points (1 to n), allowing 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, while the first embodiment uses an I-shaped rail 73 (shown in Figure 4), this second embodiment uses a T-shaped rail 301, as shown in Figures 21 to 23. The T-shaped rail 301 is composed of a vertical portion 303 and a horizontal portion 305 at the upper end. As shown in Figure 23, the horizontal portion 305 extends to the left and right to form roller contact portions 307, 307. Resin plates 308, 308 are embedded in the roller contact portions 307, 307. The T-shaped rail 301 is an extrusion molded product.

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

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

[0062] As shown in Figure 26, an arm 331 is fixed to a bushing 333, and a bolt 335 is inserted into the hollow portion of the bushing 333 and into a through-hole (not shown) of the pallet body 81. As shown in Figure 24, a nut 339 is threaded onto the tip of the bolt 335 via a washer 337. This allows the arm 331 to be attached rotatably 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 bushing 342. As shown in Figure 24, a nut 343 is threaded onto the bolt 341. The tip of the bolt 341 is disposed on the front side through an arc-shaped groove 345 formed in the pallet main body 81, and one end of a coil spring 347 is connected to this groove. The other end of the coil spring 347 is connected to a bolt 348 attached to the pallet main body 81.

[0064] The driven roller 315 is mounted rotatably around the bolt 341. The driven roller 315 is urged by the coil spring 347 toward the roller rolling contact portion 307 of the horizontal portion 303 of the rail 301. On the other hand, the drive roller 311 and the driven roller 313 are urged toward the roller rolling contact portion 307 on the opposite side of the horizontal portion 303 of the rail 301. As shown in Figure 26, the driven roller 315 is disposed opposite to and midway between the drive roller 311 and the driven roller 313. With this configuration, the number of rollers can be reduced from four to three, thereby simplifying the configuration.

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

[0066] 25, a pair of electrode units 351, 351 are provided on the rear side of the pallet body 81 at the front end, and another pair of electrode units 351, 351 are provided on the rear end. The pair of electrode units 351, 351 and the other pair of electrode units 351, 351 are arranged at a greater distance in the traveling direction than in the first embodiment.

[0067] The electrode unit 351 has the following configuration: First, an arm 353 is installed so as to be rotatable around a bolt 355. That is, the arm 353 is fixed to a bushing 357, and the bolt 355 is inserted into the hollow portion of the bushing 357 and into a through-hole (not shown) formed in the pallet main body 81, and a nut 359 is screwed onto the tip of the bolt 355, 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 bushing 363 is inserted into the pin 361. A roller 365 is fixed to the bushing 363. An electrode holder 369 is installed on the bushing 363 via a coil spring 367, and an electrode 371 is held at the tip of the electrode holder 369. A coil spring 370 is installed on the outer periphery of the bolt 355, between the arm 353 and the pallet main body 81. One end of the coil spring 370 abuts against a bolt 372, and the other end abuts against a bolt 374. A cable 373 is drawn out from the electrode holder 361. The four electrode units 351 have the same configuration, and therefore, identical parts in the drawings are designated by the same reference numerals and their description will be omitted.

[0069] As shown in Fig. 23, the electrodes 371, 371 of the pair of electrode units 351, 351 are inserted into and arranged in the recesses 341, 341, and are pressed against the power supply conductors 343, 343. Similarly, the electrodes 371, 371 of another pair of electrode units 351, 351 are inserted into and arranged in the recesses 341, 341, and are pressed against the power supply conductors 343, 343, as shown in Fig. 23. Furthermore, the rollers 365, 365, 365, 365 of the pair of electrode units 351, 351 and the other pair of electrode units 351, 351 are pressed against both the left and right sides of the vertical portion 303 of the T-shaped rail 301. Resin plates 376, 376 are embedded in both the left and right sides of the vertical portion 303.

[0070] This configuration allows for more stable power supply than in the first embodiment. As explained in the first embodiment, there are locations along the transport path 1 where the power supply conductors 343 are discontinuous. However, in the second embodiment, the pair of electrode units 351 and another pair of electrode units 351 are arranged at a greater distance in the travel direction than in the first embodiment. This ensures that the electrodes 363 of any pair of electrode units 351 are in reliable contact with the power supply conductors 343, thereby enabling stable power supply. Furthermore, because the electrodes 363 of each electrode unit 351 are pressed against the power supply conductors 343 from below, the voltage is stable, which also enables stable power supply.

[0071] In the first embodiment, three rollers 43, 43, 43 are attached to the cartridge frame 42, but in the second embodiment, two rollers 43, 43 are attached. Also, a bushing 371 is interposed between the roller 43 and the bearing 46. By adopting such a configuration, the number of rollers 43 can be reduced, thereby simplifying the configuration.

[0072] The configuration of the corner unit 21 (shown in FIG. 2) has also been changed. In the case of this second embodiment, a resin corner unit 411 is employed, which is composed of a rail 413 having a T-shaped cross section and resin running paths 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 portion 305 of the rail 301. The running paths 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 along the traveling direction, and another pair of balls 423, 423 rotatably installed in the left and right direction perpendicular to the traveling direction.

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

[0075] 25, a magnetic sensor 431 is installed near the drive roller 311. Meanwhile, a magnetic body (not shown) is installed at a predetermined position on the drive roller 311 side. The magnetic sensor 431 detects the magnetic body, thereby determining whether the drive roller 311 is rotating normally. If the magnetic sensor 431 does not detect the magnetic body for a predetermined time, or if the detection continues, it is determined that an abnormality has occurred, and the drive roller 311 is stopped and then restarted.

[0076] The other configurations are the same as those of the first embodiment, and the same parts in the drawings are denoted by the same reference numerals and the description thereof will be omitted.

[0077] As described above, this embodiment not only achieves the same effects as the first embodiment, but also the following additional effects. First, because the drive roller 311 and the driven rollers 313 and 315 are used for driving, the configuration is simplified compared to a four-roller configuration. Furthermore, more stable power supply is achieved. This is because the pair of electrode units 351 and the other pair of electrode units 351 are disposed farther apart in the running direction than in the first embodiment, and the electrodes 363 of either pair of electrode units 351 are reliably abutted against the power supply conductors 343. Furthermore, the electrode 363 of each electrode unit 351 is configured to be pressed against the power supply conductors 343 from below. Furthermore, because the electrode 363 of each electrode unit 351 is configured to be pressed against the power supply conductors 343 from below, the possibility of an operator accidentally coming into contact with a current-carrying part is eliminated. Furthermore, the construction can be simplified by attaching two rollers 43, 43 to the cartridge frame 42. Furthermore, the magnetic sensor 431 can detect abnormal situations such as the drive roller 311 slipping.

[0078] The present invention is not limited to the first and second embodiments. First, with regard to the multiple types of cartridges having any number of rollers 41, the number is not limited to 1, 2, 3, or 7, but may be any number. Furthermore, the illustrated configuration is merely an example.

[0079] The present invention relates to a self-propelled pallet transport device, and in particular to a device that allows a self-propelled pallet to travel along a roller conveyor installed along any desired track, thereby enabling the transport of transported items from any desired location to any desired location. For example, this device is suitable for transporting parts in various factories, transporting packages at delivery sites, etc.

[0080] REFERENCE SIGNS LIST 1 conveying path 3 frame 5 left roller conveyor 7 right roller conveyor 15 power supply protrusion 41 cartridge 43 roller 71 power supply conductor 73 rail 85 driving roller (driving 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 conveying device comprising a conveying path installed along a predetermined route and a self-propelled pallet that self-propels along the conveying path, wherein an object to be conveyed is placed on the self-propelled pallet and self-propelled along the conveying path to convey the object, A plurality of points are set at predetermined positions on the conveying path, A control means is installed at the plurality of points, The self-propelled pallet is also equipped with a control means. The self-propelled pallet moves by itself while communicating with its own control means and the control means of each point, Route information consisting of multiple types of driving course information is prepared in advance, Selecting and transmitting predetermined driving course information from the route information from the control means of the point to the control means of the self-propelled pallet, The self-propelled pallet transport device is characterized in that the self-propelled pallet is self-propelled based on its operating course information.

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

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

4. 3. The pallet self-propelled transport device according to claim 2, A station is set as the above point, A robot is installed in the station. A pallet self-propelled transport device 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 determines that it is the object of work, causes the robot to carry out the work.

5. 3. The pallet self-propelled transport device according to claim 2, A branch junction is installed on the above transport route, A switching unit is installed at the branch junction. There is a branch point set up as the above point, The control means for the branch point acquires information on the next point to which the self-propelled pallet stopped at the station is to head, and switches the switching unit accordingly.

6. 3. The pallet self-propelled transport device according to claim 2, The above transport route has a junction, A switching unit is installed at the branch junction. A confluence point is set up as the above point, The control means for the junction point acquires information on the next point to which the self-propelled pallet stopped at the station will head, and switches the switching unit accordingly.

7. 3. The pallet self-propelled transport device according to claim 2, The conveying path is provided with an ascending section, There are rising points set up as the above points, A self-propelled pallet transport device characterized in that the control means for the lifting point communicates with the control means for the self-propelled pallet stopped at the lifting point.

8. 3. The pallet self-propelled transport device according to claim 2, A descending section is provided on the conveying path, The above points are set as descent points, The self-propelled pallet transport device is 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. 2. The pallet self-propelled transport device according to claim 1, The pallet self-propelled transport device is characterized in that the control means comprises a controller and an optical communication head.

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