Conveyor Systems

Abstract

The conveyor system of the present invention includes a conveyor motor-equipped roller (CM-equipped roller) and a switching device. The CM-equipped roller includes a control unit in a roller tube that controls a motor according to control content contained in a control signal received by a communication unit, and outputs the control content contained in the control signal received by the communication unit to the switching device, which stores the control content. When the CM-equipped roller determines that a communication abnormality has occurred, it outputs the communication abnormality to the switching device, and the switching device in response causes the control unit to control the motor according to the stored control content.

Description

[Technical field]

[0001] The present invention relates to a conveyor system including a motor-incorporated roller for a conveyor used in a conveyor device and a switching device for switching a control source. [Background technology]

[0002] Conveyor devices are widely used to move objects, for example, at production sites and distribution sites. These conveyor devices can be broadly classified into roller conveyor devices and belt conveyor devices. The roller conveyor device is a device that includes a plurality of rollers arranged in parallel in one direction, and moves (transports) objects (transported objects) along a moving path (transport path) on the plurality of rollers. The belt conveyor device is a device that includes a plurality of rollers arranged in parallel in one direction and a transport belt stretched over the plurality of rollers, and moves objects along a moving path on the transport belt. The roller conveyor device and the belt conveyor device include a motor-built-in roller (drive roller) that has a built-in motor and rotates by a driving force generated by the motor, and a roller (follower roller, free roller) that rotates via, for example, a suspended belt or a moving object in accordance with the rotation of the motor-built-in roller. The motor of this motor-incorporated roller is driven by a motor drive device (motor control device) attached to the outside of the motor-incorporated roller, for example, to a conveyor frame (see, for example, Patent Documents 1 and 2). Also, by incorporating the motor drive device within the motor-incorporated roller, the conveyor device can be simplified.

[0003] Meanwhile, in recent years, various things have come to be connected to communication networks due to the Internet of Things (IoT). One method for connecting these things to a communication network is known as IO-Link. This IO-Link is an I / O connection technology standardized by IEC 61131-9 for communication with devices, and is a technology that provides the device with a communication interface conforming to the IO-Link standard, enabling communication signals to be transmitted bidirectionally between the device and a higher-level system. A device with a communication interface conforming to the IO-Link standard is called an IO-Link device, and this IO-Link device has a hub function, is connected to an IO-Link master connected to a communication network, and communicates with the higher-level system via the IO-Link master and the communication network.

[0004] By using the motor drive device as an IO-Link device, it is possible to centrally control the motor drive device in a higher-level system via an IO-Link master and a communication network. In this case, if a communication abnormality (communication failure) occurs in the communication network, there is a risk that the conveyor device will stop or operate in an uncontrolled state. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-068501 A [Patent Document 2] JP 2018-177441 A Summary of the Invention

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide a conveyor system that can operate a conveyor device in a predetermined control mode even when a communication abnormality occurs.

[0007] The conveyor system according to the present invention includes a motor-incorporated roller for conveyors and a switching device. The motor-incorporated roller for conveyors includes a control unit inside a roller tube that controls a motor according to control content contained in a control signal received by a communication unit, and outputs the control content contained in the control signal received by the communication unit to the switching device, which stores the control content. When the motor-incorporated roller for conveyors determines that a communication abnormality has occurred, it outputs the communication abnormality to the switching device, and when the signal abnormality is input, the switching device causes the control unit to control the motor according to the stored control content. This conveyor system can operate the conveyor in a predetermined control mode even when a communication abnormality occurs.

[0008] The above and other objects, features and advantages of the present invention will become apparent from the following detailed description and the accompanying drawings. [Brief description of the drawings]

[0009] [Figure 1] FIG. 2 is a plan view of the conveyor device according to the embodiment. [Diagram 2] FIG. 2 is a partial cross-sectional view for explaining a configuration of a motor-incorporated roller for a conveyor used in the conveyor device. [Diagram 3] 4 is a block diagram for explaining configurations of a communication control processing unit and a switching device of the conveyor motor-integrated roller. FIG. [Figure 4] FIG. 4 is a circuit diagram showing, as an example, a circuit configuration of the communication control processing unit. [Diagram 5] FIG. 5 is a diagram for explaining level shifters 54 and 55 in the circuit diagram shown in FIG. [Figure 6] 5 is a flowchart showing an operation of the communication control processing unit. [Figure 7] 1 is a first sequence diagram showing the operations of a hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and a switching device CD. FIG. [Figure 8]2 is a second sequence diagram showing the operations of the hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and the switching device CD. FIG. [Figure 9] FIG. 2 is a plan view of a conveyor device according to a first modified embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. However, the scope of the invention is not limited to the disclosed embodiments. In addition, configurations with the same reference numerals in each drawing indicate that they are the same configurations, and their description will be omitted as appropriate. In this specification, when referring to a general term, a reference numeral without a subscript is used, and when referring to an individual configuration, a reference numeral with a subscript is used.

[0011] A conveyor system according to an embodiment includes a motorized roller for conveyor use and a switching device. In this embodiment, the conveyor system further includes a conveyor device of a roller conveyor device. The motorized roller for conveyor use includes a communication unit, a roller tube, a pair of support shafts arranged to face each other and rotatably support the roller tube, a motor arranged inside the roller tube and generating a driving force to rotate the roller tube, a control unit arranged inside the roller tube and controlling the motor according to a control content contained in a control signal received by the communication unit, and a first processing unit arranged inside the roller tube and outputting the control content contained in the control signal received by the communication unit to the switching device. The switching device includes a storage unit and a second processing unit that stores the control content in the storage unit when the control content is input from the motorized roller for conveyor use. The first processing unit further determines whether or not there is a communication abnormality, and when it determines that there is a communication abnormality (when it determines that there is a communication abnormality), outputs the communication abnormality to the switching device. The second processing unit further causes the control unit to control the motor according to the stored control content when the communication abnormality is input from the roller with a built-in motor for the conveyor. The conveyor device of the roller conveyor device has a plurality of rollers arranged in parallel along one direction, and an object is moved along a moving path on the plurality of rollers. The plurality of rollers includes one or more of the rollers with a built-in motor for the conveyor. Below, the conveyor system will be described in more detail by describing the roller with a built-in motor for the conveyor, the switching device, and the conveyor device in more detail.

[0012] FIG. 1 is a plan view of a conveyor device in an embodiment. FIG. 2 is a partial cross-sectional view for explaining the configuration of a motor-incorporated roller for a conveyor used in the conveyor device. FIG. 3 is a block diagram for explaining the configuration of a communication control processing unit and a switching device of the motor-incorporated roller for a conveyor. Note that in FIG. 3, the configuration of a second modified embodiment described later is shown by a broken line. FIG. 4 is a circuit diagram showing the circuit configuration of the communication control processing unit as an example. FIG. 5 is a diagram for explaining level shifters 54 and 55 in the circuit diagram shown in FIG. 4. FIG. 5A is a diagram for explaining the level shifter 54, in which the horizontal axis is the input voltage and the vertical axis is the output voltage corresponding to the set rotation direction (target rotation direction (forward CW, reverse CCW)). FIG. 5B is a diagram for explaining the level shifter 55, in which the horizontal axis is the input voltage and the vertical axis is the set speed (target speed) [min -1 ] (set rotation speed (target rotation speed) [rpm]) is the output voltage corresponding to the set rotation speed (target rotation speed) [rpm].

[0013] The conveyor device CS in the embodiment is, for example, a roller conveyor device CS including a plurality of rollers MR, FR arranged in parallel along one direction, and moving an object (object to be conveyed) Ob on a moving path (conveying path) on the plurality of rollers MR, FR, as shown in Fig. 1. In Fig. 1, the object Ob is indicated by a two-dot chain line.

[0014] More specifically, the roller conveyor device CS includes a pair of first and second conveyor frames CFa, CFb, one or more conveyor motor-embedded rollers MR, one or more driven rollers FR, and one or more belts BT.

[0015] The first and second conveyor frames CFa and CFb are members elongated in one direction that rotatably support a motor-incorporated roller for conveyor (motor roller, hereinafter appropriately abbreviated as "CM-incorporated roller") MR and a driven roller (free roller) FR, and are arranged to face each other at a predetermined interval (first interval) in a direction perpendicular to the one direction and to be parallel in the one direction. The first interval is an appropriate interval according to the size of the transported object Ob transported by this roller conveyor device CS, and the length of each of the CM-incorporated roller MR and the driven roller FR is set according to the first interval. The first and second conveyor frames CFa and CFb have, for example, a substantially U-shaped cross section (a shape with the "-" in the center of an E-shape removed) in order to increase strength, and are formed of an iron-based metal (including an alloy) such as SPC (Steel Plate Cold). In each of the first and second conveyor frames CFa and CFb, a plurality of through openings (not shown) are formed at predetermined intervals (second intervals) along the one direction for inserting the first and second support shafts 2a and 2b of the CM-incorporated roller MR and the first and second support shafts AXa and AXb of the driven roller FR, which will be described later. The first and second support shafts 2a and 2b of the CM-incorporated roller MR are inserted into the respective through openings in the first and second conveyor frames CFa and CF, and are fixed to the first and second conveyor frames CFa and CF by respective fixing fixtures (not shown). The first and second support shafts AXa and AXb of the driven roller FR are, for example, inserted into the respective through openings in the first and second conveyor frames CFa and CFb, and are fixed to the first and second conveyor frames CFa and CFb by screwing respective nuts (not shown) into respective screw grooves formed in the first and second support shafts AXa and AXb.

[0016] The multiple CM-incorporated rollers MR are arranged in parallel along one direction via two driven rollers FR arranged in parallel along the one direction. That is, the multiple CM-incorporated rollers MR are arranged in parallel along the one direction by a predetermined number, every three in the example shown in FIG. 1, and two driven rollers FR are arranged in parallel along the one direction between two adjacent CM-incorporated rollers MR. Therefore, the multiple CM-incorporated rollers MR and the multiple driven rollers FR are parallel to each other in a direction perpendicular to the one direction. In the multiple CM-incorporated rollers MR and the multiple driven rollers FR, one CM-incorporated roller MR is connected to each of the two adjacent driven rollers FR in the one direction by a belt BT wound around one end of the roller MR, and when the roller MR rotates, the rotation of the roller MR is transmitted to each of the two driven rollers FR by the belt BT, and each of the two driven rollers FR rotates. This allows an object (transported object) Ob placed on the multiple CM-incorporated rollers MR and the multiple driven rollers FR to move (be transported).

[0017] The roller MR with a built-in conveyor motor used in such a roller conveyor device CS is configured, for example, as shown in FIG. 2. More specifically, the roller MR with a built-in conveyor motor includes a cylindrical roller tube 1 having a predetermined length (first length) made of, for example, an iron-based metal (including alloys) such as carbon steel for mechanical construction. A first cap member 7a, which is a member for closing the one end, is fixedly attached to one end of the roller tube 1, and a second cap member 7b, which is a member for closing the other end, is fixedly attached to the other end. A first bearing (not shown) is provided inside the first cap member 7a, and the first bearing rotatably supports a first support shaft 2a via a cylindrical connecting member 9 made of, for example, an iron-based metal (including alloys) such as carbon steel for mechanical construction (for example, S45C). The connecting member 9 is inserted through the first support shaft 2a and fixedly attached to the first support shaft 2a. The first cap member 7a is provided with a through opening that penetrates along the central axis of the roller tube 1 and through which the first support shaft 2a is inserted via a connecting member 9. Similarly, a second bearing (not shown) is provided within the second cap member 7b, and the second bearing rotatably supports the second support shaft 2b. The second cap member 9b is provided with a through opening that penetrates along the central axis and through which the second support shaft 2b is inserted. The first support shaft 2a is made of, for example, an iron-based metal (including an alloy), and is a hollow columnar member through which a cable CB connected to the communication control processing unit 4 described later is inserted. The second support shaft 2b is a cylindrical member.

[0018] With this configuration, the roller tube 1 is rotatably supported by the first and second support shafts 2a, 2b erected from the first and second conveyor frames CFa, CFb, respectively.

[0019] The CM-built-in roller MR incorporates a motor 3 in a roller tube 1. More specifically, the motor 3 is housed in a cylindrical internal frame 8 of a predetermined length (second length) that is smaller in diameter than the roller tube 1 and made of a metal (including an alloy) such as aluminum, and the internal frame 8 is housed in the roller tube 1 with a gap from the inner peripheral surface of the roller tube 1 so that the roller tube 1 can rotate relative to the internal frame 8.

[0020] A reducer 5 composed of a planetary gear or the like is fixedly accommodated in the inner frame 8 in the other part on the other side of the inner frame 8, and a cylindrical intermediate plate 6 is fixedly connected to the output shaft of the reducer 5, and the outer circumferential surface of the intermediate plate 6 is fixedly connected to the inner circumferential surface of the roller tube 1. A motor 3 fixedly accommodated in the inner frame 8 is disposed on one side of the reducer 5, and the output shaft of the motor 3 is connected to the input part of the reducer 5. With this configuration, when the output shaft of the motor 3 rotates, the intermediate plate 6 rotates via the reducer 5, and the roller tube 1 rotates in accordance with the rotation of the intermediate plate 6. In this way, the motor 3 is disposed inside the roller tube 1 via the inner frame 8, and generates a driving force that rotates the roller tube 1. Motor 3 may be any suitable type of motor, but in the example shown in FIG. 2, it is a radial gap inner rotor type motor, the rotor of which is equipped with a plurality of permanent magnets, and the stator of which is equipped with a plurality of coils. The rotor rotates due to the interaction between a rotating magnetic field generated by passing current through each of the plurality of coils and the magnetic fields of the plurality of permanent magnets, thereby rotating the rotor and the output shaft.

[0021] A connecting member 9 that closes one end of the inner frame 8 is fixedly attached to this one end. As a result, the inner frame 8 is fixed to the first support shaft 2a via the connecting member 9.

[0022] Between the motor 3 and the connecting member 9, a communication control processing unit 4 is disposed. The communication control processing unit 4 is a circuit for communicating with an external device, inputting and outputting data between the switching device CD, and controlling and driving the motor 3. More specifically, the communication control processing unit 4 is connected to the hub MS and the switching device CD by cables CB, as shown in FIG. 3, and includes a control unit 40, a first processing unit 461, and a communication unit 50. In this embodiment, the external device is a conveyor management device (higher-level device) SV that centrally manages the CM-embedded rollers MR. The conveyor management device SV is, for example, configured by a computer with a communication function, and transmits a control signal that includes, for example, the control content for the motor 3 of the CM-embedded roller MR. A relatively large number of CM-embedded rollers MR are usually disposed in the conveyor device CS, and by centrally managing them with the conveyor management device SV, it is possible to efficiently manage these CM-embedded rollers MR. The hub MS is connected to the conveyor management device SV via a communication network NW, such as a LAN (Local Area Network) or a WAN (Wide Area Network).

[0023] The communication unit 50 communicates with an external device. In this embodiment, the CM-embedded roller MR is communicatively connected to the conveyor management device SV via the cable CB, the hub MS, and the communication network NW by the communication unit 50, and communicates with the conveyor management device SV. The communication unit 50 is an interface that selectively performs one of two-way communication and data input / output, and the communication unit 50 performs one-to-one two-way communication with the conveyor management device SV and performs data input / output with the switching device CD. Such a communication unit 50 is, for example, an interface that complies with the IO-Link standard. In this case, the hub MS is configured to include a so-called IO-Link master.

[0024] The control unit 40 controls the motor 3 in accordance with the control content contained in the control signal received by the communication unit 50. For example, the control unit 40 controls the motor 3 in accordance with the control content so as to start, increase speed, keep a constant speed, decelerate, stop, rotate forward CW, rotate reverse CCW, etc. For this reason, the control signal includes, as the control content, a set speed (target speed) [min -1 ](Set rotation speed (target rotation speed) [rpm]) (Set speed 0 [min -1 ]) and the set rotation direction (target rotation direction).

[0025] The first processing unit 461 outputs the control content contained in the control signal received by the communication unit 50 to the switching device CD.

[0026] A specific circuit of such communication control processing unit 4 will be described later.

[0027] The switching device CD is a device that switches the control source (control source) according to the communication state of the communication unit 50. When the communication unit 50 is in a normal state where a communication signal can be transmitted and received, the control source is switched to the conveyor management device SV so that the control unit 40 controls the motor 3 with the control content contained in the control signal of the conveyor management device SV. When the communication unit 50 is in a normal state where a communication signal cannot be transmitted and received due to a communication abnormality (communication failure) in the communication network NW, for example, the control source is switched to the switching device CD so that the control unit 40 controls the motor 3 with the control content stored in the switching device CD. For example, as shown in FIG. 3, the switching device CD includes a second processing unit 61 and a storage unit 62, and is configured to include, for example, a one-chip computer. The storage unit 62 stores data such as the control content. When the control content is input from the CM-embedded roller MR, the second processing unit 61 stores the control content in the storage unit 62.

[0028] In this embodiment, the first processing unit 461 in the communication control processing unit 4 further determines whether or not there is a communication abnormality, and when it determines that there is a communication abnormality, outputs the communication abnormality to the switching device CD. When a communication abnormality is input from the CM-embedded roller MR, the switching device CD causes the control unit 40 to control the motor according to the control contents stored in the storage unit 62.

[0029] A specific circuit of the communication control processing unit 4 will be described. As shown in Fig. 4, the communication control processing unit 4 includes a capacitor 51, an IO-Link Trans'IC (hereinafter, abbreviated as "Trans'IC") 52, a Comm'MCU 53, a Level Shifter (hereinafter, abbreviated as "Shifter") 54, 55, an inverter 41, a current sensor 42, a Hall sensor 43, a voltage sensor 44, a temperature sensor 45, a Motor Control MCU (hereinafter, abbreviated as "MC-MCU") 46, and a connector CN having five first to fifth pins (Pin, terminals) PN1 to PN5, and is connected to a cable CB by the connector CN.

[0030] The first pin PN1 is a power terminal and is connected to the power supply line LN1, the third pin PN3 is a ground terminal and is connected to the ground line LN2, and power for driving the motor 3 is supplied to the first and third pins PN1 and PN3. The first and third pins PN1 and PN3 are connected to two power supply lines in the cable CB. In this embodiment, DC power of 24 [V] and 3 [A] is supplied. A smoothing capacitor 51 is connected between the power supply line LN1 and the ground line LN2. The power supply line LN1 and the ground line LN2 are connected to the MC-MCU 46 and the inverter 41, respectively, and DC power is supplied to each of them. The Trans'IC 52 is connected to the fifth pin PN5 and the ground line LN2, respectively, and DC power is supplied from the fifth pin PN5 at, for example, 24 [V]. The Comm'MCU 53 is supplied with DC power at, for example, 5 [V] from the Trans'IC 52.

[0031] The MC-MCU 46 is configured with an IC chip, for example, product number NM18101Y, and is connected to the Trans'IC 52, the Comm'MCU 53, the Shifters 54 and 55, the inverter 41, the current sensor 42, the Hall sensor 43, the voltage sensor 44, and the temperature sensor 45. The current sensor 42 measures the current of the power supplied to the motor 3, and outputs the measured current value to the MC-MCU 46. The Hall sensor 43 measures the magnetic force (magnetic flux density) in order to measure the rotor position of the motor 3, and outputs the measured magnetic force to the MC-MCU 46. The Hall sensor 43 includes, for example, three Hall sensors 43-1 to 43-3 (not shown) arranged at intervals of 120 degrees along the circumferential direction on the outer periphery of the rotor of the motor 3, and the MC-MCU 46 determines the rotor position every 60 degrees based on the magnetic forces H1 to H3 of the output measurement results. The voltage sensor 44 measures the voltage of the power supplied to the motor 3 and outputs the measured voltage value to the MC-MCU 46. The temperature sensor 45 measures the temperature of the motor 3 (the temperature of the surrounding environment of the motor 3) and outputs the measured temperature to the MC-MCU 46. The MC-MCU 46 controls the motor 3 by controlling the inverter 41 based on the current value measured by the current sensor 42, the voltage value measured by the voltage sensor 44, and the rotor position calculated based on the measurement result of the Hall sensor 43 so as to achieve the control contents (set speed (target speed) and set rotation direction (target rotation direction)) from the Comm'MCU 53 or the control contents (set speed (target speed) and set rotation direction (target rotation direction)) from the Shifters 54m and 55. The inverter 41 converts the supplied DC power into three-phase AC power of U phase, V phase, and W phase according to the control of the MC-MCU 46, and outputs the converted three-phase AC power to the motor 3. As a result, the motor 3 operates according to the control contents. When the temperature measured by the temperature sensor 45 exceeds a preset threshold (temperature determination threshold), the MC-MCU 46 controls the motor 3 via the inverter 41 to stop the motor 3. This makes it possible to prevent the CM-incorporated roller MR from heating up further.

[0032] The fourth pin PN4 is a signal terminal and is connected to the Trans'IC 52 and the MC-MCU 46. The MC-MCU 46 judges whether or not there is a communication abnormality. In the case of normal communication, a communication signal is input / output to the fourth pin PN4, the communication signal is input / output to the Trans'IC 52, and the MC-MCU 46 outputs control contents, and the control contents are output to the switching device CD. In the case of a communication abnormality, the MC-MCU 46 outputs a signal (abnormality notification signal) indicating the communication abnormality to the fourth pin PN4, and the abnormality notification signal is output to the switching device CD. In the case of communication recovery (when normal communication is judged after a communication abnormality is judged), the MC-MCU 46 outputs a signal (recovery notification signal) indicating the communication recovery to the fourth pin PN4, and the recovery notification signal is output to the switching device CD. Although the MC-MCU 46 may directly determine the presence or absence of a communication abnormality, in this embodiment using IO-Link, the IO-Link master hub MS primarily detects the presence or absence of a communication abnormality in the communication network NW and notifies the Trans'IC 52 of the result, which then notifies the MC-MCU 46 via the Comm'MCU 53, and the MC-MCU 46 determines the presence or absence of a communication abnormality based on this notification. The IO-Link master hub MS transmits a communication signal, and if there is no reception response, it retries, and if the retry fails twice, it determines that there is a communication abnormality. On the other hand, the IO-Link master hub MS transmits a communication signal after a predetermined time has elapsed, and if there is a reception response and communication is successful, it determines that communication has been restored, and notifies the Trans'IC 52 of the result, which then notifies the MC-MCU 46 via the Comm'MCU 53, and the MC-MCU 46 determines that communication has been restored based on this notification.

[0033] The MC-MCU 46 outputs enable signals to each of the Trans'IC 52 and the Comm'MCU 53 to enable or disable each of the Trans'IC 52 and the Comm'MCU 53.

[0034] The Trans'IC 52 is configured with an IC chip of, for example, part number MAX22515, and is connected to the fourth pin PN4 and the Comm'MCU 53. The Trans'IC 52 transmits and receives communication signals according to the IO-Link standard, and the communication contents (for example, control contents, communication abnormalities, normal communication, etc.) contained in the communication signals are output to the MC-MCU 46 via the Comm'MCU 53.

[0035] The Comm'MCU 53 is configured with an IC chip with model number M251FC2AE, for example, and is connected to both the Trans'IC 52 and the MC-MCU 46. Since the protocol of the UART (Universal Asynchronous Receiver / Transmitter) frame input / output by the Trans'IC 52 is different from the protocol of the UART frame input / output by the MC-MCU 46, the Comm'MCU 53 converts the UART frame protocol between the Trans'IC 52 and the MC-MCU 46, and enables data input / output between the Trans'IC 52 and the MC-MCU 46.

[0036] The second pin PN2 is a signal terminal and is connected to the input of the Shifter 54, and the output of the Shifter 54 is connected to the MC-MCU 46. A signal (set rotation direction signal) indicating the set rotation direction is input from the switching device CD to the second pin PN2. The set rotation direction signal is a voltage of a voltage value corresponding to the set rotation direction. In this embodiment, for example, as shown in FIG. 5A, when the set rotation direction is forward CW, the set rotation direction signal is a voltage of 6.5 [V] or more, and when a voltage of 6.5 [V] or more (6.5 to 24 [V]) is input, the Shifter 54 outputs a high level (Hi level) voltage indicating that the set rotation direction is forward CW, and this high level voltage is input to the MC-MCU 46. As a result, the MC-MCU 46 recognizes that the set rotation direction of the control content is forward CW. On the other hand, when the set rotation direction is reverse CCW, the set rotation direction signal is a voltage of 4.5 [V] or less, and when a voltage of 4.5 [V] or less (0 to 4.5 [V]) is input, Shifter 54 outputs a low level voltage indicating that the set rotation direction is reverse CCW, and this low level voltage is input to MC-MCU 46. As a result, MC-MCU 46 recognizes that the set rotation direction of the control content is reverse CCW.

[0037] The second pin PN2 is also connected to Trans'IC52 according to the IO-Link standard.

[0038] The fifth pin PN5 is a signal terminal and is connected to the input of the Shifter 55, and the output of the Shifter 55 is connected to the MC-MCU 46. Either a signal representing a control source (control source signal) or a signal representing a set speed (set speed signal) is alternatively input to the fifth pin PN5 from the switching device CD. The control source signal is a voltage having a voltage value corresponding to the control source being the conveyor management device SV (i.e., a control source in normal communication). In this embodiment, for example, as shown in FIG. 5B, the voltage is 18 [V] or more (18 to 24 [V]), and the Shifter 55 does not output when a voltage of 18 [V] or more is input. The switching device CD outputs a voltage of 18 [V] or more (18 to 24 [V]) to the fifth pin PN5 by default during operation. The set speed signal is a voltage having a voltage value corresponding to the set speed. In this embodiment, for example, as shown in FIG. 5B, a voltage value corresponding to a set speed is predefined in a voltage range of 2 to 10 [V], and the Shifter 55 changes the voltage range from 0 to the maximum speed [m / min] when a voltage value corresponding to the set speed is input. -1 ] is predefined as a voltage value corresponding to the rotation speed of the set speed, and outputs a voltage of a voltage value corresponding to the rotation speed of the set speed. Furthermore, 10 to 13 [V] is predefined as the set speed as the maximum speed, and when a voltage of 10 to 13 [V] is input, the Shifter 55 outputs a voltage of a voltage value corresponding to the maximum speed. Such a voltage value corresponding to the rotation speed of the set speed is input to the MC-MCU 46. As a result, the MC-MCU 46 recognizes the set speed of the control content. Note that the fact that the control source is the switching device CD is not explicitly indicated to the communication control processing unit 4, but is implicitly indicated to the communication control processing unit 4 by inputting a voltage value corresponding to the set speed in a voltage range of 2 to 13 [V] to the fifth pin PN5.

[0039] The fifth pin PN2 is also connected to Trans'IC52, and when communication is normal, DC power of 18V or more, preferably 24V, is supplied to it.

[0040] The fourth, second and fifth pins PN4, PN2, PN5 are connected to three signal lines in the cable CB.

[0041] In the communication control processing unit 4 of such a circuit, the Trans'IC 52, the Comm'MCU 53, and the Shifters 54 and 55 correspond to an example of the communication unit 50. The inverter 41, the current sensor 42, the Hall sensor, the voltage sensor 44, the temperature sensor 45, and the MC-MCU 46 correspond to an example of the control unit 40. The MC-MCU 46 corresponds to an example of a first processing unit 461, and the first processing unit 461 is functionally configured in the MC-MCU 46 by executing a program.

[0042] A heat sink (not shown) may be provided to dissipate heat generated by the communication control processing unit 4, and further, the communication control processing unit 4, the heat sink, and the connecting member 9 may be arranged in this order in a connected manner. As a result, the heat generated by the communication control processing unit 4 is thermally conducted from the communication control processing unit 4 to the heat sink, the connecting member 9, the first support shaft 2a, and the first conveyor frame CFa in this order, and is dissipated by the first conveyor frame CFa.

[0043] Next, the operation of this embodiment will be described. Fig. 6 is a flowchart showing the operation of the communication control processing unit. Fig. 7 is a first sequence diagram showing the operations of the hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and the switching device CD. Fig. 8 is a second sequence diagram showing the operations of the hub (IO-Link master) MS / conveyor management device SV, the communication control processing unit 4, and the switching device CD.

[0044] In a conveyor system having such a configuration, when the system starts to operate, the switching device CD outputs a voltage of 18 V or more (18 to 24 V) to the fifth pin PN5 by default. In Fig. 6 to Fig. 8, the communication control processing unit 4 judges whether the communication is normal or not by referring to the voltage value of the fifth pin PN5 (S1, C1). If the result of this judgment is that the communication is normal (Yes), the communication control processing unit 4 transmits a communication signal (control inquiry communication signal) to inquire about the control contents to the conveyor management device SV (S2, C1). On the other hand, if the result of the judgment is that the communication is not normal (if the communication is abnormal) (No), the communication control processing unit 4 next executes the process S7 (C21).

[0045] The control inquiry communication signal is transmitted to the conveyor management device SV via the IO-Link master MS and the communication network NW, and the conveyor management device SV receives the control inquiry communication signal (C3). The conveyor management device SV transmits a communication signal (control reply communication signal) containing control content corresponding to the sender's CM-embedded roller MR to the communication control processing unit 4 in the sender's CM-embedded roller MR (C4).

[0046] The control reply communication signal is transmitted to the communication control processing unit 4 via the communication network NW and the IO-Link master MS, and the communication control processing unit 4 receives the control reply communication signal (S3, C5).

[0047] When the communication control processing unit 4 receives the control reply communication signal, it controls the motor 3 with the control content contained in the received control reply communication signal (S4, C6), outputs (notifies) the control content contained in the received control reply communication signal to the switching device CD (S5, C7), and judges whether the communication is normal or not by referring to the voltage value of the fifth pin PN5 (S6, C8). If the communication is normal (Yes) as a result of this judgment, the communication control processing unit 4 returns the process to process S2 (C2) (C9). This repeats each process from process S2 to process S6, and if the communication is normal, the communication control processing unit 4 controls the motor 3 by communication with the conveyor management device SV via the IO-Link master MS and the communication network NW. On the other hand, if the communication is not normal (if the communication is abnormal) (No) as a result of the judgment, the communication control processing unit 4 next executes process S7 (C21). When a communication abnormality is received from the IO-Link master hub MS during control of the motor 3, the communication control processing unit 4 determines that the communication is not normal (communication abnormality).

[0048] On the other hand, the control content contained in the received control reply communication signal output to the switching device CD in the process S5 (C7) is input to the switching device CD, and the switching device CD accepts the input of the control content (C10), and the second processing unit 61 stores this input control content in the memory unit 62 (C11).

[0049] In the process S7 (C21), the communication control processing unit 4 outputs the abnormality notification signal indicating a communication abnormality to the switching device CD.

[0050] The abnormality notification signal is input to the switching device CD, which accepts the input of the abnormality notification signal (C22) and outputs the control content stored in the storage unit 62 by the second processing unit 61 to the communication control processing unit 4 (C23). More specifically, in this embodiment, the switching device CD outputs a voltage of a voltage value corresponding to the set rotation direction of the control content stored in the storage unit 62 to the second pin PN2, and outputs a voltage of a voltage value corresponding to the set speed of the control content stored in the storage unit 62 to the fifth pin PN5.

[0051] The output of the control contents is input to the communication control processing unit 4, and the communication control processing unit 4 controls the motor 3 with the input control contents (S8, C24). More specifically, in this embodiment, when the voltage value corresponding to the set rotation direction input to the second pin PN2 is 4.5 [V] or less, the Shifter 54 outputs a low level voltage indicating that the set rotation direction is reverse CCW, and the MC-MCU 46 controls the motor 3 via the inverter 41 to rotate in the reverse CCW direction. When the voltage value corresponding to the set rotation direction input to the second pin PN2 is 6.5 [V] or more, the Shifter 54 outputs a high level voltage indicating that the set rotation direction is forward CW, and the MC-MCU 46 controls the motor 3 via the inverter 41 to rotate in the forward CW direction. The shifter 55 outputs a voltage having a rotation speed corresponding to the voltage having a voltage value corresponding to the set speed input to the fifth pin PN2, and the MC-MCU 46 controls the motor 3 via the inverter 41 so that the rotation speed becomes the set speed. This allows the motor 3 to be controlled even in the event of a communication abnormality, and the operation of the conveyor device CS to be maintained.

[0052] Next, the communication control processing unit 4 judges whether or not the communication has been restored (S8, C25). If the result of this judgment is that the communication has been restored (Yes), the communication control processing unit 4 outputs the restoration notification signal indicating the communication restoration to the switching device CD (S10, C26) and returns the process to process S1 (C1). If a communication restoration (normal communication) is received from the IO-Link master hub MS during the control of the motor 3, the communication control processing unit 4 judges that the communication has been restored. On the other hand, if the result of the judgment is that the communication has not been restored (if the communication is abnormal) (No), the communication control processing unit 4 returns the process to process S8 (C24). This allows the control of the motor 3 by the output from the switching device CD to continue.

[0053] Meanwhile, the restoration notification signal is input to the switching device CD, which accepts the input of the restoration notification signal (C28) and causes the second processing unit 61 to output a voltage of 18 V or higher to the fifth pin PN5 (C28).

[0054] By operating in this manner, the conveyor system of the embodiment including the CM-incorporated roller MR and the switching device CD can operate the conveyor device CS in a predetermined control mode even if a communication error occurs.

[0055] The conveyor system in the embodiment may be used in a conveyor device of a belt conveyor device (first modified embodiment). That is, the conveyor system in this first modified embodiment includes a motor-incorporated roller MR for a conveyor, a switching device CD, and a conveyor device of a belt conveyor device, and the rollers in the conveyor device include one or more of the motor-incorporated rollers MR for a conveyor. The motor-incorporated roller MR for a conveyor and the switching device CD in the conveyor system of this first modified embodiment are similar to the motor-incorporated roller MR for a conveyor and the switching device CD in the conveyor system of the above-mentioned embodiment, respectively, so that the description thereof will be omitted and the conveyor device of the belt conveyor device will be described here.

[0056] Fig. 9 is a plan view of a conveyor device in a first modified embodiment. The conveyor device CSa in this first modified embodiment is, for example, as shown in Fig. 9, a belt conveyor device that includes a plurality of rollers MR, FR arranged in parallel along one direction, and a conveyor belt BTa stretched over the plurality of rollers MR, FR, and moves an object along a moving path on the conveyor belt BTa. More specifically, the conveyor device CSa includes a pair of first and second conveyor frames CFa, CFb, one or more conveyor motor-integrated rollers MR, one or more driven rollers FR, and the conveyor belt BTa. The first and second conveyor frames CFa, CFb, conveyor motor-integrated rollers MR, and driven rollers FR are similar to the first and second conveyor frames CFa, CFb, conveyor motor-integrated rollers MR, and driven rollers FR in the above-mentioned embodiment, respectively, and therefore the description thereof will be omitted.

[0057] That is, the conveyor device CS in the above embodiment is provided with every third roller MR with a CM built-in, and the rollers MR with a CM built-in and the adjacent driven rollers FR are connected by a ring-shaped (annular) belt BT wound around one end, but the conveyor device CSa in this first modified embodiment has a plurality of rollers MR and FR arranged side by side in one direction, and the rollers arranged at both ends are rollers MR with a CM built-in, and a wide transport belt BTa is stretched over them. Note that one or more of the plurality of driven rollers FR arranged side by side between the rollers MR with a CM built-in at both ends may be replaced with rollers MR with a CM built-in.

[0058] According to the first modified embodiment, a conveyor system further including the conveyor device of the belt conveyor device can be provided. The conveyor system further including the conveyor device of the belt conveyor device can operate the conveyor device in a predetermined control mode even when a communication abnormality occurs.

[0059] In the above embodiment and the first modified embodiment, the switching device CD is provided separately from the CM-containing roller MR, but they may be integrated. That is, the CM-containing roller MR may have the switching device CD built-in (second modified embodiment). Such a CM-containing roller MR has the function of the switching device CD and includes, for example, a communication unit 50, a roller tube 1, a pair of support shafts 2a, 2b arranged to face each other and rotatably support the roller tube 1, a motor 3 arranged inside the roller tube 1 and generating a driving force to rotate the roller tube 1, a control unit 71 arranged inside the roller tube 1 and controlling the motor 3 according to the control content contained in the control signal received by the communication unit 50, and a storage unit 72 arranged inside the roller tube 1 and storing the control content contained in the control signal received by the communication unit 50. The control unit 71 further determines whether or not there is a communication abnormality, and when it determines that there is a communication abnormality, controls the motor 3 according to the control content stored in the storage unit 72. The control unit 71 and the storage unit 72 are provided in the communication control processing unit 4, instead of the control unit 40 and the first processing unit 461, as indicated by the dashed lines in FIG.

[0060] In this second modified embodiment, since the CM built-in roller MR incorporates the switching device CD, the conveyor system can be simplified.

[0061] Alternatively, the switching device CD may be integrated into the hub (IO-Link master) MS (third variant).

[0062] As described above, this specification discloses various aspects of the technology, the main technologies of which are summarized below.

[0063] A conveyor system according to one embodiment includes a motor-integrated roller for conveyors and a switching device. The motor-integrated roller for conveyors includes a communication unit, a roller tube, a pair of support shafts arranged to face each other and rotatably support the roller tube, a motor arranged inside the roller tube and generating a driving force to rotate the roller tube, a control unit arranged inside the roller tube and controlling the motor in accordance with a control content contained in a control signal received by the communication unit, and a first processing unit arranged inside the roller tube and outputting the control content contained in the control signal received by the communication unit to the switching device. The switching device includes a storage unit and a second processing unit that stores the control content in the storage unit when the control content is input from the motor-integrated roller for conveyors. The first processing unit further determines whether or not there is a communication abnormality, and when it determines that there is a communication abnormality, outputs the communication abnormality to the switching device, and when the communication abnormality is input from the roller incorporating a conveyor motor, the second processing unit further causes the control unit to control the motor according to the stored control content. Preferably, in the above conveyor system, the communication unit is an interface that selectively performs one of two-way communication and data input / output. Preferably, in the above conveyor system, the communication unit is an interface that complies with the IO-Link standard.

[0064] In such a conveyor system, the conveyor motor-incorporating roller has a built-in control unit that controls the motor, and the control unit controls the motor according to the control content contained in the control signal received by the communication unit and outputs the control content to a switching device, which stores the input control content. When the conveyor motor-incorporating roller determines that a communication abnormality occurs, it outputs the communication abnormality to the switching device, and when the switching device receives the input of the communication abnormality, it causes the control unit to control the motor according to the stored control content. In this way, the control source is switched from the control signal when communication is normal to the switching device when communication is abnormal, so that the conveyor system can operate the conveyor in a predetermined control mode even when a communication abnormality occurs.

[0065] In another aspect, in the above-mentioned conveyor system, the motor-incorporating roller for conveyor includes the switching device. That is, the motor-incorporating roller for conveyor includes a communication unit, a roller tube, a pair of support shafts arranged to face each other and rotatably support the roller tube, a motor arranged inside the roller tube and generating a driving force to rotate the roller tube, a control unit arranged inside the roller tube and controlling the motor in accordance with the control content contained in a control signal received by the communication unit, and a storage unit arranged inside the roller tube and storing the control content contained in the control signal received by the communication unit, and the control unit further determines whether or not there is a communication abnormality, and when it determines that there is a communication abnormality, controls the motor in accordance with the stored control signal.

[0066] In such a conveyor system, the motor-incorporated roller for the conveyor incorporates a switching device, so that the conveyor system can be simplified.

[0067] In another aspect, the conveyor system described above further includes a roller conveyor device having a plurality of rollers arranged side by side in one direction, and moving an object along a moving path over the plurality of rollers, and the plurality of rollers includes one or more of the motor-integrated rollers for the conveyor.

[0068] This makes it possible to provide a conveyor system further comprising a conveyor device of the roller conveyor device.

[0069] In another aspect, the conveyor system described above further includes a belt conveyor device that includes a plurality of rollers arranged in parallel in one direction and a conveyor belt stretched across the plurality of rollers, and that moves objects along a path on the conveyor belt, and the plurality of rollers include one or more motor-integrated rollers for the conveyor.

[0070] This makes it possible to provide a conveyor system further including the conveyor device of the belt conveyor device.

[0071] In order to express the present invention, the present invention has been described adequately and sufficiently through the embodiments with reference to the drawings in the above description, but it should be recognized that those skilled in the art can easily change and / or improve the above-mentioned embodiments. Therefore, unless the changes or improvements made by those skilled in the art are at a level that departs from the scope of the claims described in the claims, the changes or improvements are interpreted as being included in the scope of the claims. [Industrial Applicability]

[0072] According to the present invention, it is possible to provide a conveyor system including a motor-incorporating roller for use in a conveyor device and a switching device for switching a control source.

Claims

1. A conveyor system including a motor-incorporated roller for a conveyor and a switching device, The motor-integrated roller for a conveyor is The Communications Department and A roller tube; a pair of support shafts arranged opposite to each other and rotatably supporting the roller tube; a motor disposed inside the roller tube and generating a driving force for rotating the roller tube; a control unit disposed inside the roller tube and configured to control the motor in accordance with a control content contained in a control signal received by the communication unit; a first processing unit that is disposed inside the roller tube and outputs the control content contained in the control signal received by the communication unit to the switching device; The switching device is A storage unit; a second processing unit that stores the control content in the storage unit when the control content is input from the conveyor motor-incorporating roller, The first processing unit further determines whether or not a communication abnormality occurs, and when it determines that the communication abnormality occurs, outputs the communication abnormality to the switching device; The second processing unit further causes the control unit to control the motor in accordance with the stored control content when the communication abnormality is input from the conveyor motor-incorporating roller. Conveyor system.

2. The conveyor motor-incorporated roller incorporates the switching device.

2. The conveyor system of claim 1.

3. A conveyor system according to claim 1 or 2, A conveyor device of a roller conveyor device including a plurality of rollers arranged in parallel along one direction, the rollers being a moving path on which an object is moved, The plurality of rollers include one or more of the motor-incorporated rollers for the conveyor. Conveyor system.

4. A conveyor system according to claim 1 or 2, a belt conveyor device including a plurality of rollers arranged in parallel along one direction and a conveyor belt stretched across the plurality of rollers, the belt conveyor device moving an object along a moving path on the conveyor belt, The plurality of rollers include one or more of the motor-incorporated rollers for the conveyor. Conveyor system.